Systems and methods providing transmit diversity to combat multipath effects in position estimation

• US 9,860,866 B2
• Filed: 06/10/2016
• Issued: 01/02/2018
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: NextNav, LLC
• Original Assignee: NextNav, LLC
• Inventors: Sendonaris, Andrew
• Primary Examiner(s): Afshar, Kamran
• Assistant Examiner(s): Seyedvosoghi, Farid
• Application Number:
  US15/179,842
• Publication Number:
  US 20160286520A1
• Time in Patent Office: 571 Days
• Field of Search: 4554561
• CPC Class Codes: G01S 5/0273 using multipath or indirect path propagation signals in position determination
• 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
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/025 using location based information parameters
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

Systems and methods for estimating a position of receiver using sets of two or more transmitters that share one or more common characteristics with each other. The systems and methods may estimate the position of the receiver using signals that were transmitted from a different transmitter in a set of co-located transmitters.

Claims

1. A method for estimating a position of a receiver using signals transmitted from co-located transmitters, wherein the method comprises:

transmitting a first signal from a first transmitter located at a first location;

transmitting a second signal from a second transmitter located at a second location, wherein the first signal and the second signal are concurrently transmitted, and wherein the first transmitter and the second transmitter are co-located transmitters that are located within a threshold distance from each other; and

determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver,

wherein;

if the first signal is determined to have arrived at the receiver before the second signal arrived at the receiver, the method comprises;

determining an estimated position of the receiver (a) using information extracted from the first signal and using information extracted from the second signal that has been adjusted, or (b) using information extracted from the first signal and without using information extracted from the second signal;

or

if the second signal is determined to have arrived at the receiver before the first signal arrived at the receiver, the method comprises;

determining the estimated position of the receiver (a) using information extracted from the second signal and using information extracted from the first signal that has been adjusted, or (b) using information extracted from the second signal and without using information extracted from the first signal.

2. The method of claim 1, wherein:

if the first signal is determined to have arrived at the receiver before the second signal arrived at the receiver, the estimated position of the receiver is determined without using the information extracted from the second signal;

or

if the second signal is determined to have arrived at the receiver before the first signal arrived at the receiver, the estimated position is determined without using the information extracted from the first signal.

3. The method of claim 1, wherein:

if the first signal is determined to have arrived at the receiver before the second signal arrived at the receiver, the method comprises adjusting the information extracted from the second signal by a measure of difference between the information extracted from the first signal and the information extracted from the second signal, and determining the estimated position of the receiver using the information extracted from the second signal that has been adjusted;

or

if the second signal is determined to have arrived at the receiver before the first signal arrived at the receiver, the method comprises adjusting the information extracted from the first signal by a measure of difference between the information extracted from the second signal and the information extracted from the first signal, and determining the estimated position of the receiver using the information extracted from the first signal that has been adjusted.

4. The method of claim 2, wherein the method comprises:

determining a measure of difference between the information extracted from the first signal and the information extracted from the second signal; and

determining if the measure of difference is greater than zero,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the measure of difference is greater than zero.

5. The method of claim 2, wherein the method comprises:

determining a measure of difference between an estimate of a distance traveled by the first signal and an estimate of a distance traveled by the second signal; and

determining if the measure of difference is greater than a distance separating the first transmitter and the second transmitter,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the measure of difference is greater than the distance separating the first transmitter and the second transmitter.

6. The method of claim 2, wherein the method comprises:

determining a first measure of difference between an estimate of a distance traveled by the first signal and an estimate of a distance traveled by the second signal;

determining a second measure of difference between a distance separating the first transmitter and an initial estimate of the receiver'"'"'s position and a distance separating the second transmitter and the initial estimate of the receiver'"'"'s position; and

determining if the first measure of difference is greater than the second measure of difference,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the first measure of difference is greater than the second measure of difference.

7. The method of claim 3, wherein the method comprises:

determining a measure of difference between the information extracted from the first signal and the information extracted from the second signal; and

determining if the measure of difference is greater than zero,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the measure of difference is greater than zero.

8. The method of claim 3, wherein the method comprises:

determining a measure of difference between an estimate of a distance traveled by the first signal and an estimate of a distance traveled by the second signal; and

determining if the measure of difference is greater than a distance separating the first transmitter and the second transmitter,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the measure of difference is greater than the distance separating the first transmitter and the second transmitter.

9. The method of claim 3, wherein the method comprises:

determining a first measure of difference between an estimate of a distance traveled by the first signal and an estimate of a distance traveled by the second signal;

determining a second measure of difference between a distance separating the first transmitter and an initial estimate of the receiver'"'"'s position and a distance separating the second transmitter and the initial estimate of the receiver'"'"'s position; and

determining if the first measure of difference is greater than the second measure of difference,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the first measure of difference is greater than the second measure of difference.

10. The method of claim 1, wherein:

if the first signal is determined to have arrived at the receiver before the second signal arrived at the receiver, the method comprises determining a first weight, determining a second weight that is less than the first weight, adjusting the information extracted from the first signal using the first weight, adjusting the information extracted from the second signal using the second weight, and determining the estimated position of the receiver using the information extracted from the first signal that has been adjusted using the first weight and using the information extracted from the second signal that has been adjusted using the second weight;

or

if the second signal is determined to have arrived at the receiver before the first signal arrived at the receiver, the method comprises determining a third weight, determining a fourth weight that is less than the third weight, adjusting the information extracted from the second signal using the third weight, adjusting the information extracted from the first signal using the fourth weight, and determining the estimated position of the receiver using the information extracted from the second signal that has been adjusted using the third weight and using the information extracted from the first signal that has been adjusted using the fourth weight.

11. The method of claim 1, wherein:

transmitting a third signal from a third transmitter located at a third location;

transmitting a fourth signal from a fourth transmitter located at a fourth location, wherein the third signal and the fourth signal are concurrently transmitted, and wherein the third transmitter and the fourth transmitter are co-located transmitters that are located within the threshold distance from each other; and

determining if the third signal arrived at the receiver before or after the fourth signal arrived at the receiver,

wherein;

if the third signal is determined to have arrived at the receiver before the fourth signal arrived at the receiver, the method comprises;

determining an estimated position of the receiver (a) using information extracted from the third signal and using information extracted from the fourth signal that has been adjusted, or (b) using information extracted from the third signal and without using information extracted from the fourth signal;

or

if the fourth signal is determined to have arrived at the receiver before the third signal arrived at the receiver, the method comprises;

determining the estimated position of the receiver (a) using information extracted from the fourth signal and using information extracted from the third signal that has been adjusted, or (b) using information extracted from the fourth signal and without using information extracted from the third signal.

12. The method of claim 11, wherein the threshold distance is not greater than 1/10 of a distance that separates the first transmitter or the second transmitter from the third transmitter or the fourth transmitter.

13. The method of claim 1, wherein the threshold distance is no more than five (5) meters.

14. The method of claim 1, wherein the threshold distance is no more than 15 times the wavelength 2\, of the carrier frequency used to transmit the first and second signals.

15. The method of claim 1, wherein determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver comprises:

determining if an estimated time-of-arrival of the first signal is earlier than an estimated time-of-arrival of the second signal; and

determining that the first signal arrived at the receiver before the second signal arrived at the receiver when the estimated time-of-arrival of the first signal is earlier than the estimated time-of-arrival of the second signal, or determining that the first signal arrived at the receiver after the second signal arrived at the receiver when the estimated time-of-arrival of the second signal is earlier than the estimated time-of-arrival of the first signal.

16. The method of claim 1, wherein determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver comprises:

determining if the first signal traveled a shorter distance than the second signal before arriving at the receiver; and

determining that the first signal arrived at the receiver before the second signal arrived at the receiver when it is determined that the first signal traveled a shorter distance than the second signal, or determining that the first signal arrived at the receiver after the second signal arrived at the receiver when it is determined that the second signal traveled a shorter distance than the first signal.

17. The method of claim 1, wherein the information extracted from the first signal is an estimate of a time-of-arrival of the first signal, and wherein the information extracted from the second signal is an estimate of a time-of-arrival of the second signal.

18. The method of claim 1, wherein the information extracted from the first signal is an estimate of a distance traveled by the first signal, and wherein the information extracted from the second signal is an estimate of a distance traveled by the second signal.

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 the method of claim 1.

20. The one or more non-transitory processor-readable media of claim 19, wherein:

if the first signal is determined to have arrived at the receiver before the second signal arrived at the receiver, the estimated position of the receiver is determined without using the information extracted from the second signal;

or

if the second signal is determined to have arrived at the receiver before the first signal arrived at the receiver, the estimated position is determined without using the information extracted from the first signal.

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

determining a measure of difference between the information extracted from the first signal and the information extracted from the second signal; and

determining if the measure of difference is greater than zero,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the measure of difference is greater than zero.

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

determining a measure of difference between an estimate of a distance traveled by the first signal and an estimate of a distance traveled by the second signal; and

determining if the measure of difference is greater than a distance separating the first transmitter and the second transmitter,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the measure of difference is greater than the distance separating the first transmitter and the second transmitter.

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

determining a first measure of difference between an estimate of a distance traveled by the first signal and an estimate of a distance traveled by the second signal;

determining a second measure of difference between a distance separating the first transmitter and an initial estimate of the receiver'"'"'s position and a distance separating the second transmitter and the initial estimate of the receiver'"'"'s position; and

determining if the first measure of difference is greater than the second measure of difference,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the first measure of difference is greater than the second measure of difference.

24. The one or more non-transitory processor-readable media of claim 19, wherein:

if the first signal is determined to have arrived at the receiver before the second signal arrived at the receiver, the method comprises adjusting the information extracted from the second signal by a measure of difference between the information extracted from the first signal and the information extracted from the second signal, and determining the estimated position of the receiver using the information extracted from the second signal that has been adjusted;

or

if the second signal is determined to have arrived at the receiver before the first signal arrived at the receiver, the method comprises adjusting the information extracted from the first signal by a measure of difference between the information extracted from the second signal and the information extracted from the first signal, and determining the estimated position of the receiver using the information extracted from the first signal that has been adjusted.

25. The one or more non-transitory processor-readable media of claim 24, wherein the method comprises:

determining a measure of difference between the information extracted from the first signal and the information extracted from the second signal; and

determining if the measure of difference is greater than zero,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the measure of difference is greater than zero.

26. The one or more non-transitory processor-readable media of claim 24, wherein the method comprises:

determining a measure of difference between an estimate of a distance traveled by the first signal and an estimate of a distance traveled by the second signal; and

determining if the measure of difference is greater than a distance separating the first transmitter and the second transmitter,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the measure of difference is greater than the distance separating the first transmitter and the second transmitter.

27. The one or more non-transitory processor-readable media of claim 24, wherein the method comprises:

determining a first measure of difference between an estimate of a distance traveled by the first signal and an estimate of a distance traveled by the second signal;

determining a second measure of difference between a distance separating the first transmitter and an initial estimate of the receiver'"'"'s position and a distance separating the second transmitter and the initial estimate of the receiver'"'"'s position; and

determining if the first measure of difference is greater than the second measure of difference,

wherein the determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver occurs after determining that the first measure of difference is greater than the second measure of difference.

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

if the first signal is determined to have arrived at the receiver before the second signal arrived at the receiver, the method comprises determining a first weight, determining a second weight that is less than the first weight, adjusting the information extracted from the first signal using the first weight, adjusting the information extracted from the second signal using the second weight, and determining the estimated position of the receiver using the information extracted from the first signal that has been adjusted using the first weight and using the information extracted from the second signal that has been adjusted using the second weight;

or

if the second signal is determined to have arrived at the receiver before the first signal arrived at the receiver, the method comprises determining a third weight, determining a fourth weight that is less than the third weight, adjusting the information extracted from the second signal using the third weight, adjusting the information extracted from the first signal using the fourth weight, and determining the estimated position of the receiver using the information extracted from the second signal that has been adjusted using the third weight and using the information extracted from the first signal that has been adjusted using the fourth weight.

29. The one or more non-transitory processor-readable media of claim 19, wherein:

transmitting a third signal from a third transmitter located at a third location;

transmitting a fourth signal from a fourth transmitter located at a fourth location, wherein the third signal and the fourth signal are concurrently transmitted, and wherein the third transmitter and the fourth transmitter are co-located transmitters that are located within the threshold distance from each other; and

determining if the third signal arrived at the receiver before or after the fourth signal arrived at the receiver,

wherein;

if the third signal is determined to have arrived at the receiver before the fourth signal arrived at the receiver, the method comprises;

determining an estimated position of the receiver (a) using information extracted from the third signal and using information extracted from the fourth signal that has been adjusted, or (b) using information extracted from the third signal and without using information extracted from the fourth signal;

or

if the fourth signal is determined to have arrived at the receiver before the third signal arrived at the receiver, the method comprises;

determining the estimated position of the receiver (a) using information extracted from the fourth signal and using information extracted from the third signal that has been adjusted, or (b) using information extracted from the fourth signal and without using information extracted from the third signal.

30. The one or more non-transitory processor-readable media of claim 29, wherein the threshold distance is not greater than 1/10 of a distance that separates the first transmitter or the second transmitter from the third transmitter or the fourth transmitter.

31. The one or more non-transitory processor-readable media of claim 19, wherein the threshold distance is no more than five (5) meters.

32. The one or more non-transitory processor-readable media of claim 19, wherein the threshold distance is no more than 15 times the wavelength λ

, of the carrier frequency used to transmit the first and second signals.

33. The one or more non-transitory processor-readable media of claim 19, wherein determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver comprises:

determining if an estimated time-of-arrival of the first signal is earlier than an estimated time-of-arrival of the second signal; and

determining that the first signal arrived at the receiver before the second signal arrived at the receiver when the estimated time-of-arrival of the first signal is earlier than the estimated time-of-arrival of the second signal, or determining that the first signal arrived at the receiver after the second signal arrived at the receiver when the estimated time-of-arrival of the second signal is earlier than the estimated time-of-arrival of the first signal.

34. The one or more non-transitory processor-readable media of claim 19, wherein determining if the first signal arrived at the receiver before or after the second signal arrived at the receiver comprises:

determining if the first signal traveled a shorter distance than the second signal before arriving at the receiver; and

determining that the first signal arrived at the receiver before the second signal arrived at the receiver when it is determined that the first signal traveled a shorter distance than the second signal, or determining that the first signal arrived at the receiver after the second signal arrived at the receiver when it is determined that the second signal traveled a shorter distance than the first signal.

35. The one or more non-transitory processor-readable media of claim 19, wherein the information extracted from the first signal is an estimate of a time-of-arrival of the first signal, and wherein the information extracted from the second signal is an estimate of a time-of-arrival of the second signal.

36. The one or more non-transitory processor-readable media of claim 19, wherein the information extracted from the first signal is an estimate of a distance traveled by the first signal, and wherein the information extracted from the second signal is an estimate of a distance traveled by the second signal.

37. A system for estimating a position of receiver, the system comprising:

a first transmitter located at a first location;

a second transmitter located at a second location,

wherein the first transmitter and the second transmitter are co-located transmitters that are located within a threshold distance from each other, and

wherein a processor of the system is operable to;

determine if a first signal transmitted by the first transmitter arrived at the receiver before or after a second signal transmitted by the second transmitter arrived at the receiver, wherein the first signal and the second signal were concurrently transmitted;

determine, if the first signal is determined to have arrived at the receiver before the second signal arrived at the receiver, an estimated position of the receiver (a) using information extracted from the first signal and using information extracted from the second signal that has been adjusted, or (b) using information extracted from the first signal and without using information extracted from the second signal;

or

determine, if the second signal is determined to have arrived at the receiver before the first signal arrived at the receiver, the estimated position of the receiver (a) using information extracted from the second signal and using information extracted from the first signal that has been adjusted, or (b) using information extracted from the second signal and without using information extracted from the first signal.