Positioning technique for wireless communication system

• US 8,824,325 B2
• Filed: 12/08/2011
• Issued: 09/02/2014
• Est. Priority Date: 12/08/2011
• Status: Expired due to Fees

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Zhang, Xiaoxin, Zhang, Ning
• Primary Examiner(s): BEDNASH, JOSEPH A
• Application Number:
  US13/315,174
• Publication Number:
  US 20130148514A1
• Time in Patent Office: 999 Days
• Field of Search: 342/450
• US Class Current: 370/252
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 5/021 Calibration, monitoring or correction G01S5/0252 takes precedence
• CPC Class Codes: G01S 5/0257 Hybrid positioning by coordinating position lines of different shape G01S5/12
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location

Abstract

A hybrid positioning system can be implemented to improve location estimation of a wireless network device when reference network devices can have different distance calibration constants. For each of a plurality of positions at which the wireless network device is placed and for each reference network device, a distance between the wireless network device and the reference network device is determined. A first positioning algorithm is executed to determine an intermediate location (corresponding to each position) of the wireless network device and a distance calibration constant for each reference network device based, in part, on a corresponding initial location of the wireless network device. A second positioning algorithm is executed to estimate a subset of the positions of the wireless network device based on the intermediate location (corresponding to the position) of the wireless network device and the distance calibration constant of each of reference network devices.

Claims

1. A method performed by a wireless network device of a communication network, the method comprising:

determining distances between the wireless network device and a plurality of reference wireless network devices;

determining an initial position of the wireless network device based, at least in part, on known positions of at least a subset of the plurality of reference wireless network devices;

determining, by executing a first set of positioning computations associated with time difference of arrival (TDOA), an intermediate position of the wireless network device and distance calibration values associated with the plurality of reference wireless network devices based, at least in part, on the initial position of the wireless network device and the distances between the wireless network device and the plurality of reference wireless network devices; and

estimating, by executing a second set of positioning computations associated with time of arrival (TOA), a current position of the wireless network device based, at least in part, on the intermediate position of the wireless network device and the distance calibration values associated with the plurality of reference wireless network devices.

2. The method of claim 1, wherein determining the intermediate position of the wireless network device and the distance calibration values associated with the plurality of reference wireless network devices comprises:

determining a first estimate of the intermediate position of the wireless network device based, at least in part, on the initial position of the wireless network device, the distances between the wireless network device and the plurality of reference wireless network devices, the known positions of at least the subset of the plurality of reference wireless network devices, and an initial distance calibration value associated with at least a first reference wireless network device of the plurality of reference wireless network devices; and

determining, for the first reference wireless network device, a first estimate of a first distance calibration value associated with the first reference wireless network device based, at least in part, on the first estimate of the intermediate position of the wireless network device, a first distance between the wireless network device and the first reference wireless network device, and a known position of the first reference wireless network device.

3. The method of claim 2, wherein said determining the first estimate of the first distance calibration value associated with the first reference wireless network device comprises:

determining, for a plurality of positions of the wireless network device, an intermediate distance calibration value associated with the first reference wireless network device when the wireless network device is at one of the plurality of positions, each intermediate distance calibration value based, at least in part, on the first estimate of the intermediate position of the wireless network device, the first distance between the wireless network device and the first reference wireless network device, and the known position of the first reference wireless network device; and

combining intermediate distance calibration values associated with the plurality of positions of the wireless network device to determine the first estimate of the first distance calibration value associated with the first reference wireless network device.

4. The method of claim 3, wherein said determining the intermediate distance calibration value associated with the first reference wireless network device comprises:

determining the first distance between the wireless network device and the first reference wireless network device based, at least in part, on a round trip transit time between the wireless network device and the first reference wireless network device;

determining a second distance between the wireless network device and the first reference wireless network device based, at least in part, on the known position of the first reference wireless network device and the first estimate of the intermediate position of the wireless network device; and

determining the intermediate distance calibration value associated with the first reference wireless network device as a difference between the first distance and the second distance.

5. The method of claim 2, wherein the initial distance calibration value associated with the first reference wireless network device is one of a zero value, a predetermined value, or a dynamically selected random value.

6. The method of claim 2, further comprising:

determining a second estimate of the intermediate position of the wireless network device based, at least in part, on the first estimate of the intermediate position of the wireless network device, the distances between the wireless network device and the plurality of reference wireless network devices, the known positions of at least the subset of the plurality of reference wireless network devices, and the first estimate of the first distance calibration value associated with the first reference wireless network device; and

determining, for the first reference wireless network device, a second estimate of the first distance calibration value associated with the first reference wireless network device based, at least in part, on the second estimate of the intermediate position of the wireless network device, the first distance between the wireless network device and the first reference wireless network device, and the known position of the first reference wireless network device.

7. The method of claim 1, wherein estimating the current position of the wireless network device comprises:

estimating, by executing a Taylor series based TOA positioning algorithm, the current position of the wireless network device based, at least in part, on the intermediate position of the wireless network device, the distance calibration values associated with the plurality of reference wireless network devices, the known positions of at least the subset of the plurality of reference wireless network devices, and the distances between the wireless network device and the plurality of reference wireless network devices.

8. The method of claim 1, wherein the first set of positioning computations are executed until:

an error between a current estimate of the intermediate position of the wireless network device and a preceding estimate of the intermediate position of the wireless network device is less than a predetermined position error threshold,

an error between current estimates of the distance calibration values associated with the plurality of reference wireless network devices and preceding estimates of the distance calibration values is less than a predetermined distance calibration error threshold, or

a predetermined number of iterations of the first set of positioning computations are executed.

9. The method of claim 1, further comprising:

determining, at the wireless network device, round trip transit times between the wireless network device and the plurality of reference wireless network devices,

wherein the distances between the wireless network device and the plurality of reference wireless network devices are based, at least in part on the round trip transit times between the wireless network device and the plurality of reference wireless network devices.

10. The method of claim 1, wherein said determining the initial position of the wireless network device based, at least in part, on the known positions of at least the subset of the plurality of reference wireless network devices comprises one of:

determining the initial position of the wireless network device as an average of the known positions of at least the subset of the plurality of reference wireless network devices, or

determining the initial position of the wireless network device as a weighted combination of the known positions of at least the subset of the plurality of reference wireless network devices.

11. The method of claim 1, wherein said determining the initial position of the wireless network device comprises:

determining a location error matrix, wherein each element of the location error matrix represents a difference between an estimated position coordinate of the wireless network device and a corresponding initial position coordinate of the initial position of the wireless network device;

determining a distance difference error matrix, wherein each element of the distance difference error matrix represents a difference between a measured distance difference between the wireless network device and a pair of the plurality of reference wireless network devices and an estimated distance difference between the wireless network device and a pair of the plurality of reference wireless network devices, wherein the measured distance difference is determined based, at least in part, on a round trip transit time between the wireless network device and the pair of the plurality of reference wireless network devices, wherein the estimated distance difference is determined based, at least in part, on positions of the pair of the plurality of reference wireless network devices and the initial position of the wireless network device;

determining a coefficient matrix as a product of the distance difference error matrix and an inverse of a transpose of the location error matrix; and

determining the initial position of the wireless network device based, at least in part, on maximizing a determinant of a product of the coefficient matrix and a transpose of the coefficient matrix.

12. The method of claim 1, wherein said determining the initial position of the wireless network device comprises:

determining a location error matrix, wherein each element of the location error matrix represents a difference between an estimated position coordinate of the wireless network device and a corresponding initial position coordinate of the initial position of the wireless network device;

determining a distance error matrix, wherein each element of the distance error matrix represents a difference between a measured distance between the wireless network device and one of the plurality of reference wireless network devices and an estimated distance between the wireless network device and the one of the plurality of reference wireless network devices, wherein the measured distance is determined based, at least in part, on a round trip transit time between the wireless network device and the one of the plurality of reference wireless network devices, wherein the estimated distance is determined based, at least in part, on the known positions of the one of the plurality of reference wireless network devices and the initial position of the wireless network device;

determining a coefficient matrix as a product of the distance error matrix and an inverse of a transpose of the location error matrix; and

determining the initial position of the wireless network device based, at least in part, on maximizing a determinant of a product of the coefficient matrix and a transpose of the coefficient matrix.

13. The method of claim 1, further comprising:

identifying the plurality of reference wireless network devices based, at least in part, on analyzing one or more performance measurements associated with the plurality of reference wireless network devices.

14. The method of claim 1, wherein the wireless network device and the plurality of reference wireless network devices comprise wireless local area network (WLAN) communication capabilities.

15. A wireless network device for use in a communication network, the wireless network device comprising:

a network interface operable to couple the wireless network device to the communication network; and

a position determination unit coupled with the network interface, the position determination unit operable to;

determine distances between the wireless network device and a plurality of reference wireless network devices;

determine an initial position of the wireless network device based, at least in part, on known positions of at least a subset of the plurality of reference wireless network devices;

determine, by executing a first set of positioning computations associated with time difference of arrival (TDOA), an intermediate position of the wireless network device and distance calibration values associated with the plurality of reference wireless network devices based, at least in part, on the initial position of the wireless network device and the distances between the wireless network device and the plurality of reference wireless network devices; and

estimate, by executing a second set of positioning computations associated with time of arrival (TOA), a current position of the wireless network device based, at least in part, on the intermediate position of the wireless network device and the distance calibration values associated with the plurality of reference wireless network devices.

16. The wireless network device of claim 15, wherein the position determination unit operable to determine the intermediate position of the wireless network device and the distance calibration values associated with the plurality of reference wireless network devices comprises the position determination unit operable to:

determine a first estimate of the intermediate position of the wireless network device based, at least in part, on the initial position of the wireless network device, the distances between the wireless network device and the plurality of reference wireless network devices, the known positions of at least the subset of the plurality of reference wireless network devices, and an initial distance calibration value associated with at least a first reference wireless network device of the plurality of reference wireless network devices; and

determine, for the first reference wireless network device, a first estimate of a first distance calibration value associated with the first reference wireless network device based, at least in part, on the first estimate of the intermediate position of the wireless network device, a first distance between the wireless network device and the first reference wireless network device, and a known position of the first reference wireless network device.

17. The wireless network device of claim 16, wherein the position determination unit operable to determine the first estimate of the first distance calibration value associated with the first reference wireless network device comprises the position determination unit operable to:

determine, for a plurality of positions of the wireless network device, an intermediate distance calibration value associated with the first reference wireless network device when the wireless network device is at one of the plurality of positions, each intermediate distance calibration value based, at least in part, on the first estimate of the intermediate position of the wireless network device, the first distance between the wireless network device and the first reference wireless network device, and the known position of the first reference wireless network device; and

combine intermediate distance calibration values associated with the plurality of positions of the wireless network device to determine the first estimate of the first distance calibration value associated with the first reference wireless network device.

18. The wireless network device of claim 17, wherein the position determination unit operable to determine the intermediate distance calibration value associated with the first reference wireless network device comprises the position determination unit operable to:

determine the first distance between the wireless network device and the first reference wireless network device based, at least in part, on a round trip transit time between the wireless network device and the first reference wireless network device;

determine a second distance between the wireless network device and the first reference wireless network device based, at least in part, on the known position of the first reference wireless network device and the first estimate of the intermediate position of the wireless network device; and

determine the intermediate distance calibration value associated with the first reference wireless network device as a difference between the first distance and the second distance.

19. The wireless network device of claim 16, wherein the position determination unit operable to estimate the current position of the wireless network device comprises the position determination unit operable to:

estimate, by executing a Taylor series based TOA positioning algorithm, the current position of the wireless network device based, at least in part, on the intermediate position of the wireless network device, the distance calibration values associated with the plurality of reference wireless network devices, the known positions of at least the subset of the plurality of reference wireless network devices, and the distances between the wireless network device and the plurality of reference wireless network devices.

20. A non-transitory machine-readable media having instructions stored therein, which when executed by one or more processors of a wireless network device causes the wireless network device to perform operations that comprise:

determining distances between the wireless network device and a plurality of reference wireless network devices;

determining an initial position of the wireless network device based, at least in part, on known positions of at least a subset of the plurality of reference wireless network devices;

determining, by executing a first set of positioning computations associated with time difference of arrival (TDOA), an intermediate position of the wireless network device and distance calibration values associated with the plurality of reference wireless network devices based, at least in part, on the initial position of the wireless network device and the distances between the wireless network device and the plurality of reference wireless network devices; and

estimating, by executing a second set of positioning computations associated with time of arrival (TOA), a current position of the wireless network device based, at least in part, on the intermediate position of the wireless network device and the distance calibration values associated with the plurality of reference wireless network devices.

21. The non-transitory machine-readable media of claim 20,

wherein said determining the intermediate position of the wireless network device and the distance calibration values associated with the plurality of reference wireless network devices comprises:

determining a first estimate of the intermediate position of the wireless network device based, at least in part, on the initial position of the wireless network device, the distances between the wireless network device and the plurality of reference wireless network devices, the known positions of at least the subset of the plurality of reference wireless network devices, and an initial distance calibration value associated with at least a first reference wireless network device of the plurality of reference wireless network devices; and

determining, for the first reference wireless network device, a first estimate of a first distance calibration value associated with the first reference wireless network device based, at least in part, on the first estimate of the intermediate position of the wireless network device, a first distance between the wireless network device and the first reference wireless network device, and a known position of the first reference wireless network device; and

wherein said operation of estimating the current position of the wireless network device comprises;

estimating, by executing a Taylor series based TOA positioning algorithm, the current position of the wireless network device based, at least in part, on the intermediate position of the wireless network device, the distance calibration values associated with the plurality of reference wireless network devices, the known positions of at least the subset of the plurality of reference wireless network devices, and the distances between the wireless network device and the plurality of reference wireless network devices.

22. The non-transitory machine-readable media of claim 21, wherein said operation of determining the first estimate of the first distance calibration value associated with the first reference wireless network device comprises:

determining the first distance between the wireless network device and the first reference wireless network device based, at least in part, on a round trip transit time between the wireless network device and the first reference wireless network device;

determining a second distance between the wireless network device and the first reference wireless network device based, at least in part, on the known position of the first reference wireless network device and the first estimate of the intermediate position of the wireless network device;

determining an intermediate distance calibration value associated with the first reference wireless network device as a difference between the first distance and the second distance; and

combining intermediate distance calibration values associated with a plurality of positions of the wireless network device to determine the first estimate of the first distance calibration value associated with the first reference wireless network device.