Method and apparatus for indoor positioning using ranging and sensing information

A device comprising:

• a transceiver;
• and
• a processor operably connected to the transceiver, the processor configured to:
• scan for registered Wi-Fi nodes with known coordinates to generate a list of the registered Wi-Fi nodes;
• perform a ranging operation by (i) selecting nodes to range with from the list of the registered Wi-Fi nodes, and (ii) processing ranging responses from the selected nodes to generate a series of distance measurements;
• obtain a series of sensor readings generated by one or more inertial measurement units (IMUs) of the device;
• and
• estimate a position of the device based on the series of distance measurements and the series of sensor readings using first and second filtering operations that are performed in parallel by determining a difference between a first estimated current position generated by the first filtering operation and a second estimated current position generated by the second filtering operation and resetting the first filtering operation based on the difference.

A non-transitory computer readable medium comprising program code that, when executed by a processor of a device, causes the device to:

• scan for registered Wi-Fi nodes with known coordinates to generate a list of the registered Wi-Fi nodes;
• perform a ranging operation by (i) selecting nodes to range with from the list of the registered Wi-Fi nodes, and (ii) processing ranging responses from the selected nodes to generate a series of distance measurements;
• obtain a series of sensor readings generated by one or more inertial measurement units (IMUs) of the device;
• and
• estimate a position of the device based on the series of distance measurements and the series of sensor readings using first and second filtering operations that are performed in parallel by determining a difference between a first estimated current position generated by the first filtering operation and a second estimated current position generated by the second filtering operation and resetting the first filtering operation based on the difference.