Multipath mitigation filter

A method of estimating the position of an object from a sensor measurement, the method comprising:

• filtering the sensor measurement with a signal filter including a measurement noise variance estimator to yield a measurement noise variance estimate and a position estimate;
• comparing the measurement noise variance estimate against a dynamic threshold to detect whether a multipath condition exists;
• determining a correction for a multipath induced measurement bias error from the measurement noise variance estimate if the multipath condition is detected;
• and
• applying the correction to the estimation of the object's position.

A method for estimating the position of an object from a sensor measurement, the method comprising:

• filtering the sensor measurement;
• estimating a measurement noise variance of the sensor measurement;
• comparing the measurement noise variance estimate against a dynamic threshold;
• determining from the comparison whether a multipath condition exists;
• and
• applying a correction for multipath induced measurement bias error generated from the measurement noise variance estimate upon determining that a multipath condition exists.

A position estimator, comprising:

• means for receiving a sensor measurement and generating a measurement noise variance estimate and a position estimate therefrom;
• means for applying a dynamic threshold against the measurement noise variance estimate to determine whether a multipath condition exists;
• and
• a multipath bias estimator capable of generating a correction for multipath induced measurement bias error from a measurement noise variance estimate for application upon determining that a multipath condition exists.

A method of estimating the position of an object from a sensor measurement, the method comprising:

• means for filtering the sensor measurement with a signal filter including a measurement noise variance estimator to yield a measurement noise variance estimate and a position estimate;
• means for comparing the measurement noise variance estimate against a dynamic threshold to detect whether a multipath condition exists;
• means for determining a correction for a multipath induced measurement bias error from the measurement noise variance estimate if the multipath condition is detected;
• and
• means for applying the correction to the estimation of the object's position.

A program storage medium encoded with instructions that, when executed by a computer, perform a method of estimating the position of an object from a sensor measurement, the method comprising:

• filtering the sensor measurement with a signal filter including a measurement noise variance estimator to yield a measurement noise variance estimate and a position estimate;
• comparing the measurement noise variance estimate against a dynamic threshold to detect whether a multipath condition exists;
• determining a correction for a multipath induced measurement bias error from the measurement noise variance estimate if the multipath condition is detected;
• and
• applying the correction to the estimation of the object's position.

A computing apparatus programmed to perform a method of estimating the position of an object from a sensor measurement, the method comprising:

• filtering the sensor measurement with a signal filter including a measurement noise variance estimator to yield a measurement noise variance estimate and a position estimate;
• comparing the measurement noise variance estimate against a dynamic threshold to detect whether a multipath condition exists;
• determining a correction for a multipath induced measurement bias error from the measurement noise variance estimate if the multipath condition is detected;
• and
• applying the correction to the estimation of the object's position.