Selection of a relative positioning method

• US 9,696,431 B2
• Filed: 04/12/2010
• Issued: 07/04/2017
• Est. Priority Date: 04/12/2010
• Status: Active Grant

• Current Assignee: RPX Corporation
• Original Assignee: Nokia Technologies Oy (Nokia Corporation)
• Inventors: Wirola, Lauri
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): Mahne, Kevin P
• Application Number:
  US13/640,701
• Publication Number:
  US 20130030684A1
• Time in Patent Office: 2,640 Days
• Field of Search: 701300
• CPC Class Codes: G01S 19/258 relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 5/011 Identifying the radio environment
• CPC Class Codes: G01S 5/0289 of multiple transceivers, e.g. in ad hoc networks

Abstract

It is disclosed to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between first and second entities. The method is selected in dependence on at least one of the following criteria: an estimated/measured distance between the first and second entities; a relative positioning capability, of at least one of the first entity, the second entity and at least one server entity associated with at least one of the first and second entities, to determine an estimate of a relative position between two entities; and an availability, at at least one of the at least one server entity, of a service providing data of at least one reference entity useable for determining an estimate of a relative position between the reference entity and one of the first and second entities.

Claims

1. A method performed by an apparatus, said method comprising:

selecting a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;

a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite,

wherein in case that an estimated/determined distance between said first entity and said second entity is one of below and below-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity and on data measured at said second entity without requiring any data of a reference entity.

2. The method according to claim 1, further comprising at least one of:

obtaining information on at least said criterion in dependence on which said relative positioning method is selected, or

initiating said selected relative positioning method.

3. The method according to claim 1, wherein communication between said first entity and its associated server entity and between said second entity and its associated server entity is at least partially based on at least one of the Secure User Plane Protocol or the Long Term Evolution Positioning Protocol.

4. A method performed by an apparatus, said method comprising:

selecting a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;

a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite,

wherein in case that an estimated/determined distance between said first entity and said second entity is above a threshold, a relative positioning method is selected that is based on measurements performed by said first entity and said second entity and also on data of at least two reference entities.

5. A method performed by an apparatus, said method comprising:

selecting a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;

a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite,

wherein said relative positioning method is further selected in dependence on the following criterion;

an availability, at at least one of said at least one server entity, of a service providing data of at least one reference entity useable for determining an estimate of a relative position between said reference entity and one of said first entity and said second entity,

wherein in case that an estimated/determined distance between said first entity and said second entity is one of above and above-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity, said second entity and at at least two reference entities.

6. The method according to claim 5, wherein in case that said service providing said data of said at least one reference entity is available at a common server entity associated with said first entity and said second entity or at both a first server entity associated with said first entity and a second server entity associated with said second entity and that at least one of said first entity, said second entity, said common server entity, said first server entity or said second server entity has said relative positioning capability, a positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity, said second entity and at at least two reference entities, and wherein said estimate of said relative position between said first entity and said second entity is determined based on an estimate of an absolute position of said first entity and an estimate of an absolute position of said second entity.

7. The method according to claim 6, wherein said estimate of said absolute position of said first entity is determined based on respective information on a respective absolute position of at least one of said at least two reference entities that is associated with said first entity and on a respective estimate of a respective relative position between said at least one reference entity associated with said first entity and said first entity, and wherein said estimate of said absolute position of said second entity is determined based on respective information on a respective absolute position of at least one of said at least two reference entities that is associated with said second entity and on a respective estimate of a respective relative position between said at least one reference entity associated with said second entity and said second entity.

8. The method according to claim 7, wherein in said selected relative positioning method, one of the following holds:

said respective estimate of said respective relative position between said at least one reference entity associated with said first entity and said first entity is determined by said first entity, and said respective estimate of said respective relative position between said at least one reference entity associated with said second entity and said second entity is determined by said second entity,

said respective estimate of said respective relative position between said at least one reference entity associated with said first entity and said first entity is determined by a server entity associated with said first entity, and said respective estimate of said respective relative position between said at least one reference entity associated with said second entity and said second entity is determined by a server entity associated with said second entity,

said respective estimate of said respective relative position between said at least one reference entity associated with said first entity and said first entity is determined by said first entity, and said respective estimate of said respective relative position between said at least one reference entity associated with said second entity and said second entity is determined by said server entity associated with said second entity.

9. The method according to claim 5, wherein said service providing data of at least one reference entity is a virtual reference receiver service providing data of at least one virtual reference receiver.

10. A non-transitory computer-readable medium having a computer program stored thereon, said computer program comprising:

program code for performing, when said computer program is executed on a processor, a method comprising;

selecting a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;

a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite,

wherein in case that an estimated/determined distance between said first entity and said second entity is one of below and below-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity and on data measured at said second entity without requiring any data of a reference entity.

11. An apparatus, comprising at least one processor;

and at least one memory including computer program code, said at least one memory and said computer program code configured to, with said at least one processor, cause said apparatus at least to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;

a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite,

wherein in case that an estimated/determined distance between said first entity and said second entity is one of below and below-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity and on data measured at said second entity without requiring any data of a reference entity.

12. The apparatus according to claim 11, wherein said at least one memory and said computer program code are configured to, with said at least one processor, cause said apparatus further to at least one of

obtain information on at least said criterion in dependence on which said relative positioning method is selected, or

initiate said selected relative positioning method.

13. The apparatus according to claim 11, wherein communication between said first entity and its associated server entity and between said second entity and its associated server entity is at least partially based on at least one of the Secure User Plane Protocol or the Long Term Evolution Positioning Protocol.

14. The apparatus according to claim 11, wherein said apparatus is one of said first entity, said second entity and said at least one server entity, or a part thereof, and/or comprises a user interface.

15. An apparatus, comprising at least one processor;

and at least one memory including computer program code, said at least one memory and said computer program code configured to, with said at least one processor, cause said apparatus at least to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;

a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite,

wherein in case that an estimated/determined distance between said first entity and said second entity is above a threshold, a relative positioning method is selected that is based on measurements performed by said first entity and said second entity and also on data of at least two reference entities.

16. An apparatus, comprising at least one processor;

and at least one memory including computer program code, said at least one memory and said computer program code configured to, with said at least one processor, cause said apparatus at least to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between a first entity and a second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, said relative positioning method selected in dependence on the following criterion;

a relative positioning capability, of at least one of said first entity, said second entity or at least one server entity associated with at least one of said first entity or said second entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite,

wherein said relative positioning method is further selected in dependence on the following criterion;

an availability, at at least one of said at least one server entity, of a service providing data of at least one reference entity useable for determining an estimate of a relative position between said reference entity and one of said first entity and said second entity,

wherein in case that an estimated/determined distance between said first entity and said second entity is one of above and above-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity, said second entity and at at least two reference entities.

17. The apparatus according to claim 16, wherein in case that said service providing said data of said at least one reference entity is available at a common server entity associated with said first entity and said second entity or at both a first server entity associated with said first entity and a second server entity associated with said second entity and that at least one of said first entity, said second entity, said common server entity, said first server entity or said second server entity has said relative positioning capability, a positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity, said second entity and at at least two reference entities, and wherein said estimate of said relative position between said first entity and said second entity is determined based on an estimate of an absolute position of said first entity and an estimate of an absolute position of said second entity.

18. The apparatus according to claim 17, wherein said estimate of said absolute position of said first entity is determined based on respective information on a respective absolute position of at least one of said at least two reference entities that is associated with said first entity and on a respective estimate of a respective relative position between said at least one reference entity associated with said first entity and said first entity, and wherein said estimate of said absolute position of said second entity is determined based on respective information on a respective absolute position of at least one of said at least two reference entities that is associated with said second entity and on a respective estimate of a respective relative position between said at least one reference entity associated with said second entity and said second entity.

19. The apparatus according to claim 18, wherein in said selected relative positioning method, one of the following holds:

said respective estimate of said respective relative position between said at least one reference entity associated with said first entity and said first entity is determined by said first entity, and said respective estimate of said respective relative position between said at least one reference entity associated with said second entity and said second entity is determined by said second entity,

said respective estimate of said respective relative position between said at least one reference entity associated with said first entity and said first entity is determined by a server entity associated with said first entity, and said respective estimate of said respective relative position between said at least one reference entity associated with said second entity and said second entity is determined by a server entity associated with said second entity,

said respective estimate of said respective relative position between said at least one reference entity associated with said first entity and said first entity is determined by said first entity, and said respective estimate of said respective relative position between said at least one reference entity associated with said second entity and said second entity is determined by said server entity associated with second entity.

20. The apparatus according to claim 16, wherein said service providing data of at least one reference entity is a virtual reference receiver service providing data of at least one virtual reference receiver.

21. A system, comprising a first entity, a second entity and at least one server entity associated with at least one of said first entity or said second entity, wherein said first entity and said second entity are mobile terminals of a mobile radio communications system, wherein at least one of said first entity, said second entity or said at least one server entity is configured to select a relative positioning method from a set of at least two different relative positioning methods that are for determining an estimate of a relative position between said first entity and said second entity, said relative positioning method selected in dependence on the following criterion:

a relative positioning capability, of at least one of said first entity, said second entity or said at least one server entity, to determine an estimate of a relative position between two entities, wherein said relative positioning capability is a capability to determine an estimate of a relative position between said two entities based on a double difference observable obtained by subtracting a first difference between respective data obtained for said two entities with respect to a first satellite of a Global Navigation Satellite System and a second difference between respective data obtained for said two entities with respect to a second satellite of said Global Navigation Satellite System that is different from said first satellite,

wherein in case that an estimated/determined distance between said first entity and said second entity is one of below and below-or-equal-to a threshold, a relative positioning method is selected in which said estimate of said relative position between said first entity and said second entity is determined based on data measured at said first entity and on data measured at said second entity without requiring any data of a reference entity.