# US 12,216,224 B2 · Method and apparatus for kinematic state estimation of a user equipment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,216,224 B2 - Document ID: US12216224B2 - Status: Granted - Kind: B2 - Application number: 17/775,982 - Filed: 2019-11-12 - Published: 2022-12-08 - Granted: 2025-02-04 - Earliest claimed: 2019-11-12 - Assignees: Telefonaktiebolaget LM Ericsson (publ) - Applicants: Telefonaktiebolaget LM Ericsson (publ) - Inventors: Sholeh Yasini; Torbjörn Wigren - Web page: https://patentgrep.com/patent/US12216224B2 ## CPC - G01S 5/0294: {Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering} - G01S 5/0244: {Accuracy or reliability of position solution or of measurements contributing thereto} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A method for kinematic state estimation of a UE connected to a wireless communication network. The method comprises obtaining (S10) of measurement information related to a kinematic measurement concerning the UE. The kinematic measurement is achieved at a measuring time. The kinematic measurement belongs to a set of kinematic measurements. It is further determined (S20) whether the measurement information is consistent with a measurement prediction for the UE valid for the measuring time based on a kinematic state estimation of the UE. The kinematic state estimation is created using kinematic measurements of the set of kinematic measurements. If the measurement information is determined not to be consistent, the measurement information is discarded (S30). If the measurement information is determined to be consistent, the kinematic state estimation of the UE is updated (S31) with the measurement information. ## Claims ### Claim 1 A method for kinematic state estimation of a user equipment connected to a wireless communication network, comprising: obtaining measurement information, wherein: the measurement information is related to a kinematic measurement concerning said user equipment, said kinematic measurement is achieved at a measuring time, and said kinematic measurement belongs to a set of kinematic measurements; determining whether said measurement information is consistent with a measurement prediction for said user equipment valid for said measuring time based on a kinematic state estimation of said user equipment, said kinematic state estimation being created using kinematic measurements of said set of kinematic measurements; discarding said measurement information if said measurement information is determined not to be consistent with said measurement prediction for said user equipment valid for said measuring time in said step of determining; and updating said kinematic state estimation of said user equipment with said measurement information if said measurement information is determined to be consistent with said measurement prediction for said user equipment valid for said measuring time in said step of determining. ### Claim 2 (depends on 1) The method of claim 1, wherein said step of determining comprises: calculating a measurement prediction for said user equipment valid for said measuring time based on said kinematic state estimation of said user equipment; computing a prediction error representing a difference between said calculated measurement prediction and said kinematic measurement; wherein said measurement information is determined to be consistent with said measurement prediction if said prediction error is less than a prediction error discrimination threshold. ### Claim 3 (depends on 2) The method of claim 2, wherein said prediction error threshold is a predetermined prediction error discrimination threshold. ### Claim 4 (depends on 2) The method of claim 2, wherein said step of determining further comprises establishing of said prediction error discrimination threshold in dependence of an uncertainty of said measurement prediction for said user equipment. ### Claim 5 (depends on 4) The method of claim 4, wherein said prediction error discrimination threshold is established to be equal to a predetermined significance level of a χ∧2 distribution of said measurement prediction for said user equipment. ### Claim 6 (depends on 5) The method of claim 5, wherein said predetermined significance level is 95%. ### Claim 7 (depends on 1) The method of claim 1, wherein said kinematic state estimation is performed using Kalman filtering, or said kinematic state estimation is performed using extended Kalman filtering. ### Claim 8 (depends on 1) The method of claim 1, wherein said step of determining further comprises establishing of said prediction error discrimination threshold in dependence of an uncertainty of said measurement prediction for said user equipment, said kinematic state estimation is performed using Kalman filtering, or said kinematic state estimation is performed using extended Kalman filtering, and said measurement prediction for said user equipment is calculated using said kinematic state estimation of said user equipment propagated to said measuring time, and said prediction error discrimination threshold is dependent on a state covariance matrix of said Kalman filtering of said kinematic state estimation. ### Claim 9 (depends on 1) The method of claim 1, wherein said set of kinematic measurements comprises round-trip time measurements from at least three sites, or said set of kinematic measurements comprises path loss or received power measurements with respect to at least three sites, together with Doppler measurements, or said set of kinematic measurements comprises timing advance measurements with respect to a serving base station, path loss/received power measurements with respect to at least two neighbor sites and Doppler measurements, or said set of kinematic measurements comprises timing advance measurements or path loss measurements with respect to a serving base station and angle of arrival measurements in said serving base station. ### Claim 10 (depends on 9) The method of claim 9, wherein the further steps of: determining whether a height of said kinematic state estimation of said user equipment corresponds to a height below a margin distance below ground level; if a height of said kinematic state estimation of said user equipment corresponds to said height below said margin distance below ground level, replacing said kinematic state estimation with a mirrored kinematic state estimation, with respect to a plane defined by the antennas of the sites providing the kinematic measurements of said set of measurements. ### Claim 11 (depends on 10) The method of claim 10, wherein when said sites providing the kinematic measurements of said set of measurements are provided at a same site height, performing said replacing comprises: replacing a height with the double sum of an altitude of said ground level and said site height minus the original height; replacing a velocity in a vertical direction by said velocity in an opposite direction to said vertical direction; and replacing an acceleration in said vertical direction by said acceleration in an opposite direction to said vertical direction. ### Claim 12 (depends on 9) The method of claim 9, wherein the further steps of: determining whether a height of said kinematic state estimation of said user equipment corresponds to a height below a margin distance below ground level; if a height of said kinematic state estimation of said user equipment corresponds to said height below said margin distance below ground level, expanding said set of measurements to involve measurements from a site not being situated in a same plane as the other sites associated with the set of measurements, or expanding said set of measurements to involve measurements of angle of arrival with respect to a base station. ### Claim 13 (depends on 10) The method of claim 10, wherein said margin distance is a predetermined margin distance, equal or larger than zero, or said margin distance is determined in dependence of an uncertainty of said height. ### Claim 14 A network node for kinematic state estimation of a user equipment connected to the wireless communication network of said network node, wherein said network node is configured to obtain measurement information, wherein: the measurement information is related to a kinematic measurement concerning said user equipment, said kinematic measurement is achieved at a measuring time, and said kinematic measurement belongs to a set of kinematic measurements; said network node is further configured to determine whether said measurement information is consistent with a measurement prediction for said user equipment valid for said measuring time based on a kinematic state estimation of said user equipment, said kinematic state estimation being created using kinematic measurements of said set of kinematic measurements; and said network node is further configured to discard said measurement information if said measurement information is determined not to be consistent with said measurement prediction for said user equipment valid for said measuring time in said determining; and to update said kinematic state estimation of said user equipment with said measurement information if said measurement information is determined to be consistent with said measurement prediction for said user equipment valid for said measuring time in said determining. ### Claim 15 (depends on 14) The network node of claim 14, wherein said step of determining comprises: calculating a measurement prediction for said user equipment valid for said measuring time based on said kinematic state estimation of said user equipment; computing a prediction error representing a difference between said calculated measurement prediction and said kinematic measurement; wherein said measurement information is determined to be consistent with said measurement prediction if said prediction error is less than a prediction error discrimination threshold. ### Claim 16 A non-transitory computer readable storage medium storing a computer program comprising instructions, which when executed by at least one processor, cause said at least one processor to obtain measurement information, wherein: the measurement information is related to a kinematic measurement concerning a user equipment, said kinematic measurement is achieved at a measuring time, and said kinematic measurement belongs to a set of kinematic measurements; wherein said instructions, when executed by said at least one processor, further cause said at least one processor to determine whether said measurement information is consistent with a measurement prediction for said user equipment valid for said measuring time based on a kinematic state estimation of said user equipment, said kinematic state estimation being created using kinematic measurements of said set of kinematic measurements; wherein said instructions, when executed by said at least one processor, further cause said at least one processor to discard said measurement information if said measurement information is determined not to be consistent with said measurement prediction for said user equipment valid for said measuring time in said determining; and wherein said instructions, when executed by said at least one processor, further cause said at least one processor to update said kinematic state estimation of said user equipment with said measurement information if said measurement information is determined to be consistent with said measurement prediction for said user equipment valid for said measuring time in said determining. ### Claim 17 (depends on 16) The non-transitory computer readable storage medium of claim 16, wherein said step of determining comprises: calculating a measurement prediction for said user equipment valid for said measuring time based on said kinematic state estimation of said user equipment; computing a prediction error representing a difference between said calculated measurement prediction and said kinematic measurement; wherein said measurement information is determined to be consistent with said measurement prediction if said prediction error is less than a prediction error discrimination threshold.