Pairwise measurements for improved position determination

A first node which determines an enhanced position estimate using pairwise measurements, comprising:

• a wireless transceiver;
• a processor coupled to the wireless transceiver;
• and
• a memory coupled to the processor, wherein the memory stores executable instructions and data for causing the processor to:
• perform measurements at the first node using a signal received from a second node,
• receive measurements from the second node, wherein the received measurements are performed at the second node using a signal provided by the first node,
• determine pairwise comparisons of the performed measurements and the received measurements, and
• compensate the measurements performed at the first node, based on the pairwise comparisons, for estimating a position of the first node.

An apparatus for enhancing a position estimate, comprising:

• means for performing measurements at a first node using a signal received from a second node;
• means for receiving measurements from the second node, wherein the received measurements are performed at the second node using a signal provided by the first node;
• means for determining pairwise comparisons of the performed measurements and the received measurements;
• and
• means for compensating the measurements performed at the first node, based on the pairwise comparisons, for estimating a position of the first node.

A non-transitory computer-readable medium comprising instructions, which, when executed by a processor, cause the computer to perform operations, the instructions comprising:

• instructions to perform measurements at the first node using a signal received from a second node;
• instructions to receive measurements from the second node, wherein the received measurements are performed at the second node using a signal provided by the first node;
• instructions to determine pairwise comparisons of the performed measurements and the received measurements;
• and
• instructions to compensate the measurements performed at the first node, based on the pairwise comparisons, for estimating a position of the first node.

A method for triggering an enhanced a position estimate of a first node using pairwise measurements, comprising:

• receiving Round Trip Time (RTT) and Received Signal Strength Indicator (RSSI) measurements from a plurality of neighboring nodes, wherein the RTT and RSSI measurements are performed at the neighboring nodes using a signal provided by the first node;
• evaluating a quality of the RTT and RSSI measurements received from the neighboring nodes, and performing pairwise comparison and compensation with each neighboring node associated with the RTT and/or RSSI measurements which fail the evaluating;
• determining a position estimate of the first node based on the RTT measurements and RSSI measurements which pass the evaluating;
• and
• comparing information based on the RTT measurements and/or the RSSI measurements with information derived from the position estimate, and performing pairwise comparison and compensation with each neighboring node associated with RTT measurements and/or RSSI measurements which compare unfavorably.

A first node which triggers an enhanced position estimate using pairwise measurements, comprising:

• a wireless transceiver;
• a processor coupled to the wireless transceiver;
• and
• a memory coupled to the processor, wherein the memory stores executable instructions and data for causing the processor to
• receive Round Trip Time (RTT) and Received Signal Strength Indicator (RSSI) measurements from a plurality of neighboring nodes, wherein the RTT and RSSI measurements are performed at the neighboring nodes using a signal provided by the first node,
• evaluate a quality of the RTT and RSSI measurements received from the neighboring nodes, and performing pairwise comparison and compensation with each neighboring node associated with the RTT and/or RSSI measurements which fail the evaluating,
• determine a position estimate of the first node based on the RTT measurements and RSSI measurements which pass the evaluating, and
• compare information based on the RTT measurements and/or the RSSI measurements with information derived from the position estimate, and performing pairwise comparison and compensation with each neighboring node associated with RTT measurements and/or RSSI measurements which compare unfavorably.

An apparatus for triggering an enhanced position estimate of a first node using pairwise measurements, comprising:

• means for receiving Round Trip Time (RTT) and Received Signal Strength Indicator (RSSI) measurements from a plurality of neighboring nodes, wherein the RTT and RSSI measurements are performed at the neighboring nodes using a signal provided by the first node;
• means for evaluating a quality of the RTT and RSSI measurements received from the neighboring nodes, and performing pairwise comparison and compensation with each neighboring node associated with the RTT and/or RSSI measurements which fail the evaluating;
• means for determining a position estimate of the first node based on the RTT measurements and RSSI measurements which pass the evaluating;
• and
• means for comparing information based on the RTT measurements and/or the RSSI measurements with information derived from the position estimate, and performing pairwise comparison and compensation with each neighboring node associated with RTT measurements and/or RSSI measurements which compare unfavorably.

A non-transitory computer-readable medium comprising instructions, which, when executed by a processor, cause the computer to perform operations, the instructions comprising:

• instructions to receive Round Trip Time (RTT) and Received Signal Strength Indicator (RSSI) measurements from a plurality of neighboring nodes, wherein the RTT and RSSI measurements are performed at the neighboring nodes using a signal provided by the first node;
• instructions to evaluate a quality of the RTT and RSSI measurements received from the neighboring nodes, and performing pairwise comparison and compensation with each neighboring node associated with the RTT and/or RSSI measurements which fail the evaluating;
• instructions to determine a position estimate of the first node based on the RTT measurements and RSSI measurements which pass the evaluating;
• and
• instructions to compare information based on the RTT measurements and/or the RSSI measurements with information derived from the position estimate, and performing pairwise comparison and compensation with each neighboring node associated with RTT measurements and/or RSSI measurements which compare unfavorably.

A method for enhancing a position determination performed by a server, comprising:

• receiving measurements from a node based on signals received from a plurality of neighboring nodes;
• receiving signal measurements from a plurality of neighboring nodes based on signals received from the node;
• determining a pairwise comparison of the measurements from the node and the measurements from each neighboring node;
• compensating the measurements received from the node based on the pairwise comparisons;
• and
• determining a position estimate of the node using the measurements that were compensated.

A server which enhances a position determination of a node using pairwise measurements, comprising:

• a network interface;
• a processor coupled to the network interface;
• and
• a memory coupled to the processor, wherein the memory stores executable instructions and data for causing the processor to
• receive measurements from a node based on signals received from a plurality of neighboring nodes,
• receive signal measurements from a plurality of neighboring nodes based on signals received from the node,
• determine a pairwise comparison of the measurements from the node and the measurements from each neighboring node,
• compensate the measurements received from the node based on the pairwise comparisons, and
• determine a position estimate of the node using the compensated measurements.

A server which enhances a position determination of a node using pairwise measurements, comprising:

• means for receiving measurements from a node based on signals received from a plurality of neighboring nodes;
• means for receiving signal measurements from a plurality of neighboring nodes based on signals received from the node;
• means for determining a pairwise comparison of the measurements from the node and the measurements from each neighboring node;
• means for compensating the measurements received from the node based on the pairwise comparisons;
• and
• means for determining a position estimate of the node using the measurements that are compensated.

A non-transitory computer-readable medium comprising instructions, which, when executed by a processor, cause the computer to perform operations, the instructions comprising:

• instructions to receive measurements from a node based on signals received from a plurality of neighboring nodes;
• instructions to receive signal measurements from a plurality of neighboring nodes based on signals received from the node;
• instructions to determine a pairwise comparison of the measurements from the node and the measurements from each neighboring node;
• instructions to compensate the measurements received from the node based on the pairwise comparisons;
• and
• instructions to determine a position estimate of the node using the measurements that are compensated.