Kalman filter for indoor positioning
AssigneeTexas Instruments Incorporated
InventorMohamed Farouk MANSOUR
Life of this patent
Estimating the term…
Abstract
A position estimation method for indoor positioning includes filtering an initial position estimate that includes a corresponding covariance that reflects the quality of the geometry of the reference points and a previous initial position estimate that includes a corresponding covariance that reflects the quality of the geometry of the reference points by a Kalman filter to generate an updated previous position estimate, analyzing the updated previous position estimate to determine if the value is outside of a range, and constraining the updated previous position estimate based on the value being outside of the range.
Claims20
A position estimation method, comprising:
- filtering, by a Kalman filter, an initial position estimate that includes a corresponding covariance and a previous initial position estimate that includes a corresponding covariance to generate an updated previous position estimate;
- analyzing the updated previous position estimate to determine if the updated previous position estimate is outside of a range;
- and
- constraining the updated previous position estimate based on the value being outside of the range.
A positioning system, comprising:
- a position estimator to determine a current position estimate and a corresponding covariance derived from a Wi-Fi dilution of position (WDOP) algorithm;
- a position smoother to update a previous position estimate using the current position estimate and a delayed position estimate;
- and
- a constraints module to limit a change in the updated previous position estimate with respect to a prior updated previous position estimate.
A wireless indoor positioning device, comprising:
- a delay element and a multiplexer to receive a current position estimate that includes a corresponding covariance and the delay element to delay the current position estimate;
- a first Kalman filter coupled to the output of the delay element and an output of a multiplexer (MUX) to generate an updated previous position estimate using the current position estimate and a delayed position estimate;
- and
- a constraints module, coupled to the first Kalman filter, to limit the change in the updated position estimate based on a difference between a prior updated previous position estimate and the updated previous position estimate, wherein the constraint will not be applied if the difference is within a range.
Dependencies are inferred from the claim text.