System for determining a physical metric such as position

Apparatus for performing signal correlation within a receiver, comprising at least one processor and at least one non-transient computer readable medium for storing instructions that, when executed by the at least one processor, causes the apparatus to perform operations comprising:

• receiving a plurality of signals transmitted from one or more remote sources;
• determining a motion of the receiver;
• correlating each signal in the plurality of received signals and a respective local signal to produce motion compensated correlation signals;
• providing motion compensation of at least one of the local signal, at least one received signal of the plurality of the received signals, and the correlation signals to produce motion compensated correlation results based on the determined motion of the receiver, wherein the motion compensation is based on a sequence of phasors that are indicative of amplitude and/or phase changes introduced into the received signal by the motion of the receiver;
• accessing a three-dimensional city model;
• using the three-dimensional city model and the motion compensated correlation results to determine an arrival direction for each received signal in the plurality of received signals and to determine which of the received signals in the plurality of received signals are reflected signals;
• and
• determining a position of the receiver using the motion compensated correlation results without using motion compensated correlation results derived from the reflected signals.

A positioning system comprising:

• a receiver configured to receive a plurality of signals transmitted from one or more remote sources;
• an inertial measurement unit configured to determine a motion of the receiver;
• a correlator configured to correlate each signal in the plurality of received signals and a respective local signal to produce motion compensated correlation signals and to provide motion compensation of at least one of the local signal, at least one received signal of the plurality of the received signals, and the correlation signals to produce motion compensated correlation results based on the determined motion of the receiver, wherein the motion compensation is based on a sequence of phasors that are indicative of amplitude and/or phase changes introduced into the received signal by the motion of the receiver;
• a memory configured to access a three-dimensional city model;
• and
• a signal analysis unit configured to use the three-dimensional city model and the motion compensated correlation results to determine an arrival direction for each received signal in the plurality of received signals and to determine which of the received signals in the plurality of received signals are reflected signals;
• and
• a positioning unit configured to use the arrival direction of each received signal to select motion compensated correlation results to utilize, without using motion compensated correlation results derived from the reflected signals, to determine a position of the positioning system.