Method, apparatus and computer readable storage medium for establishing precise location of a terminal in wireless communication with base stations

An apparatus configured for establishing location of a mobile terminal, the apparatus comprising:

• a processor;
• and
• a memory storing at least one computer program, wherein the at least one computer program comprises instructions which are executed by the processor, the instructions comprising:
• obtaining indoor environmental information;
• receiving a set of data, from a base station, of the mobile terminal;
• determining, based on the indoor environmental information and the set of data of the mobile terminal, a line that contains a two-dimensional (2D) planar projection point of the base station, a 2D planar projection point of the mobile terminal, and a scatterer corresponding to the base station;
• obtaining positional information of the scatterer, by applying a constraint that the scatterer must be located on the line;
• and
• estimating positional information of the mobile terminal based on the positional information of the base station, the set of data, and the positional information of the scatterer, wherein the positional information of the mobile terminal is estimated by applying a constrained iterative weighted least-squares method.

A non-transitory computer readable storage medium, wherein the computer readable storage medium stores at least one instruction, the at least one instruction implementing a method of establishing location of a mobile terminal when executed by a processor, the instructions comprising:

• obtaining indoor environmental information;
• receiving a set of data, from a base station, of the mobile terminal;
• determining, based on the indoor environmental information and the set of data of the mobile terminal , a line that contains a two-dimensional (2D) planar projection point of the base station, a 2D planar projection point of the mobile terminal, and a scatterer corresponding to the base station;
• obtaining positional information of the scatterer, by applying a constraint that the scatterer must be located on the line;
• and
• estimating positional information of the mobile terminal based on the positional information of the base station, the set of observation data, and the positional information of the scatterer, wherein the positional information of the mobile terminal is estimated by applying a constrained iterative weighted least-squares method.