US 8,412,239 B1Granted

Indoor positioning using joint likelihoods

AssigneeQUALCOMM Incorporated

InventorsRavi Palanki, Ayman Fawzy Naguib

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Abstract

Apparatus, systems and methods for estimating a position of a mobile terminal (MT) using joint probability distribution values are disclosed. In an example, the MT is capable of receiving signals from a plurality of access points. The MT receives a map of expected measurements for a parameter observable by the MT, from any of a plurality of hypothesis locations. The expected measurements are predictive of a value of the parameter observed by the MT, when the MT is proximal that hypothesis location. The MT captures measurements of the parameter for the plurality of access points, computes interim vectors for the hypothesis locations using the captured and expected measurements, computes joint probability distributions for the interim vectors using a covariance matrix, and filters the joint probability distributions to produce an estimated position of the MT.

Claims25

Dependent claims

A method in a mobile terminal for estimating a position of the mobile terminal, the method comprising:

receiving an expected measurement map indicative of an expected measurement of one or more parameters by the mobile terminal, the expected measurement map being associated with a plurality of communication devices and a plurality of hypothesis locations, wherein receiving the expected measurement map comprises receiving a set of expected measurement values associated with the plurality of communication devices and the plurality of hypothesis locations;
receiving parameters of a matrix corresponding to the expected measurement map;
capturing, by the mobile terminal, actual measurements of the one or more parameters for the plurality of communication devices, wherein each of the actual measurements and the expected measurement map comprise values indicative of a delay in a communication path between the mobile terminal and one or more of the plurality of communication devices;
and
utilizing the received one or more parameters and actual measurements to estimate the position of the mobile terminal, wherein estimating the position of the mobile terminal includes
computing a respective interim vector from the actual measurements and the expected measurement map for each hypothesis location;
computing joint probability distribution values as an exponential of a matrix product using the interim vector and the matrix to produce a joint probability distribution value;
and
filtering the joint probability distribution value to estimate the position of the mobile terminal.

6 more elements

A mobile terminal for estimating a position of the mobile terminal, comprising:

a matrix reception unit to receive parameters of a matrix;
an expected measurement map reception unit to receive an expected measurement map indicative of an expected measurement of one or more parameters by the mobile terminal, the expected measurement map being associated with a plurality of communication devices and a plurality of hypothesis locations, wherein the expected measurement map reception unit is further configured to receive a set of expected measurement values associated with the plurality of communication devices and the plurality of hypothesis locations;
a measurement capture unit to capture actual measurements of one or more parameters from the position of the mobile terminal for the plurality of communication devices, wherein each of the actual measurements and the expected measurement map comprise values indicative of a delay in a communication path between the mobile terminal and one or more of the plurality of communication devices;
a joint probability distribution computation unit to use compute an interim vector to compute joint probability distribution values as an exponential of a matrix product using the interim vector and the matrix;
a computation unit coupled to the matrix reception unit and the measurement capture unit, and to use the received one or more parameters and actual measurements and the joint probability distribution values to estimate the position of the mobile terminal, wherein the computation unit is coupled to a filter for filtering the joint probability distribution values to estimate the position of the mobile terminal.

2 more elements

A device comprising:

a processor;
a transceiver operable to send and receive wireless signals, wherein the processor is coupled to receive data from the transceiver;
and
a non-transitory memory having stored thereon instructions for configuring the processor for:
receiving an expected measurement map indicative of an expected measurement of one or more parameters by a mobile terminal, the expected measurement map being associated with a plurality of communication devices and a plurality of hypothesis locations, wherein receiving the expected measurement map comprises receiving a set of expected measurement values associated with the plurality of communication devices and the plurality of hypothesis locations;
receiving parameters of a matrix corresponding to the expected measurement map;
capturing actual measurements of the one or more parameters for the plurality of communication devices, wherein each of the actual measurements and the expected measurement map comprise values indicative of a delay in a communication path between the mobile terminal and one or more of the plurality of communication devices;
and
utilizing the received one or more parameters and actual measurements to estimate a position of the mobile terminal, wherein the instructions for estimating the position of the mobile terminal include instructions for
computing a respective interim vector from the actual measurements and the expected measurement map for each hypothesis location,
computing joint probability distribution values as an exponential of a matrix product using the interim vector and the matrix to produce a joint probability distribution value, and
filtering the joint probability distribution value to estimate the position of the mobile terminal.

9 more elements

Dependencies are inferred from the claim text.

Facts

Application: 13/491,393Filed 7 Jun 2012 · us provisional application
Priority: 10 Apr 2012
Granted: 2 Apr 2013
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

G01S 5/0278
Using radio waves: involving statistical or probabilistic considerations
G01S 5/02521
Radio frequency fingerprinting: using a radio-map
H04W 4/025
Services making use of location information: using location based information parameters
H04W 4/33
Services specially adapted for particular environments, situations or purposes: for indoor environments, e.g. buildings