JP2009545755A5 - - Google Patents

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JP2009545755A5
JP2009545755A5 JP2009523058A JP2009523058A JP2009545755A5 JP 2009545755 A5 JP2009545755 A5 JP 2009545755A5 JP 2009523058 A JP2009523058 A JP 2009523058A JP 2009523058 A JP2009523058 A JP 2009523058A JP 2009545755 A5 JP2009545755 A5 JP 2009545755A5
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received signal
cost function
weight value
likelihood
positioning algorithm
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JP2009523058A
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JP2009545755A (en
JP4495249B2 (en
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Priority claimed from US11/832,547 external-priority patent/US7574221B2/en
Priority claimed from US11/832,558 external-priority patent/US7577446B2/en
Priority claimed from US11/832,551 external-priority patent/US7577445B2/en
Application filed filed Critical
Priority claimed from PCT/US2007/075087 external-priority patent/WO2008017034A2/en
Publication of JP2009545755A publication Critical patent/JP2009545755A/en
Publication of JP2009545755A5 publication Critical patent/JP2009545755A5/ja
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Publication of JP4495249B2 publication Critical patent/JP4495249B2/en
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Claims (15)

超広帯域の信号を用いて通信する移動端末の位置決め方法であって、
前記移動端末と複数の固定端末との間で送信された信号を受信するステップと、
各受信信号について、一以上のマルチパス成分の遅延及び振幅に基づく統計計量を使用して、前記受信信号が見通し経路を進んだ尤度を決定するステップと、
前記受信信号の見通し経路の前記尤度に部分的に基づく位置決めアルゴリズムを使用して、前記受信信号の到着時刻に基づき前記移動端末の位置を決定するステップと
を含む方法。 A method for positioning a mobile terminal that communicates using an ultra-wideband signal ,
Receiving signals transmitted between the mobile terminal and a plurality of fixed terminals;
For each received signal, a step of using a statistical metric that is based on the delay and amplitude of one or more multipath components, wherein the received signal to determine the likelihood advanced sight path,
Determining a position of the mobile terminal based on an arrival time of the received signal using a positioning algorithm based in part on the likelihood of the line-of-sight path of the received signal. 前記統計計量が、前記受信信号の尖度、平均過剰遅延、及びＲＭＳ遅延広がりの１つ又は複数の測定値を含む、請求項１に記載の方法。   The method of claim 1, wherein the statistical metric includes one or more measurements of kurtosis, average excess delay, and RMS delay spread of the received signal. 前記位置決めアルゴリズムが費用関数を最小にする、請求項１に記載の方法。   The method of claim 1, wherein the positioning algorithm minimizes a cost function. 前記費用関数が、前記対応する受信信号の信頼度計量を表す加重値によって加重される、請求項３に記載の方法。 The method of claim 3 , wherein the cost function is weighted by a weight value representing a confidence metric of the corresponding received signal. 各々の加重値が前記受信信号の前記尤度と対数的に関係する、請求項４に記載の方法。 The method of claim 4 , wherein each weight value is logarithmically related to the likelihood of the received signal. 前記統計計量が前記対応する受信信号のマルチパス成分から導出され、前記加重値が軟加重選択方法に従って選択される、請求項４に記載の方法。 5. The method of claim 4 , wherein the statistical metric is derived from multipath components of the corresponding received signal and the weight value is selected according to a soft weight selection method. 前記統計計量が前記対応する受信信号のマルチパス成分から導出され、前記加重値が硬加重選択方法に従って選択される、請求項４に記載の方法。 The method of claim 4 , wherein the statistical metric is derived from multipath components of the corresponding received signal and the weight value is selected according to a hard weight selection method. 前記位置決めアルゴリズムが最小二乗アルゴリズムである、請求項１に記載の方法。   The method of claim 1, wherein the positioning algorithm is a least squares algorithm. 前記位置決めアルゴリズムが剰余に基づく、請求項１に記載の方法。   The method of claim 1, wherein the positioning algorithm is based on a remainder. 前記費用関数が非線形費用関数である、請求項３に記載の方法。 The method of claim 3 , wherein the cost function is a nonlinear cost function. 前記非線形費用関数の最小化が、数値探索法を使用することを含む、請求項１０に記載の方法。 The method of claim 10 , wherein the nonlinear cost function minimization comprises using a numerical search method. 前記費用関数が、前記固定端末の選択された１つの位置に関する線形化費用関数である、請求項３に記載の方法。 The method of claim 3 , wherein the cost function is a linearized cost function for a selected one location of the fixed terminal. 前記線形化費用関数の最小化が、対角行列を構築することを含む、請求項１２に記載の方法。 The method of claim 12 , wherein the minimization of the linearization cost function comprises constructing a diagonal matrix. 前記費用関数が前記対応する受信信号の信頼度計量を表す加重値によって加重され、前記対角行列が前記費用関数の前記加重値を含む、請求項１３に記載の方法。 The method of claim 13 , wherein the cost function is weighted by a weight value representing a confidence metric of the corresponding received signal, and the diagonal matrix includes the weight value of the cost function. 前記受信信号が見通し経路を進んだことの前記尤度が所定の値よりも小さいと決定された場合に、前記受信信号を、前記位置決めアルゴリズムに加わらないように除外するステップを更に含む、請求項１に記載の方法。   The method further comprises excluding the received signal from being added to the positioning algorithm when it is determined that the likelihood that the received signal has traveled a line-of-sight path is less than a predetermined value. The method according to 1.
JP2009523058A 2006-08-03 2007-08-02 Weighted least squares positioning method using multipath channel statistics for non-line-of-sight mitigation Expired - Fee Related JP4495249B2 (en)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US82137806P 2006-08-03 2006-08-03
US82212706P 2006-08-11 2006-08-11
US82336706P 2006-08-23 2006-08-23
US11/832,547 US7574221B2 (en) 2006-08-03 2007-08-01 Method for estimating jointly time-of-arrival of signals and terminal location
US11/832,558 US7577446B2 (en) 2006-08-03 2007-08-01 Weighted least square localization method exploiting multipath channel statistics for non-line-of-sight mitigation
US11/832,551 US7577445B2 (en) 2006-08-03 2007-08-01 Line-of-sight (LOS) or non-LOS (NLOS) identification method using multipath channel statistics
PCT/US2007/075087 WO2008017034A2 (en) 2006-08-03 2007-08-02 Weighted least square localization method exploiting multipath channel statistics for non-line-of-sight mitigation

Publications (3)

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JP2009545755A JP2009545755A (en) 2009-12-24
JP2009545755A5 true JP2009545755A5 (en) 2010-02-12
JP4495249B2 JP4495249B2 (en) 2010-06-30

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EP (1) EP2050287A2 (en)
JP (1) JP4495249B2 (en)
KR (1) KR20090016662A (en)
WO (1) WO2008017034A2 (en)

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KR101051906B1 (en) * 2006-08-03 2011-07-26 가부시키가이샤 엔티티 도코모 Line or non-visible line identification method using multipath channel statistics
US20100295731A1 (en) * 2007-01-11 2010-11-25 Chia-Chin Chong Method for optimum bandwidth selection of time-of-arrival estimators
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US8380222B2 (en) 2008-11-26 2013-02-19 Andrew Llc System and method for multiple range estimation location
US7956808B2 (en) * 2008-12-30 2011-06-07 Trueposition, Inc. Method for position estimation using generalized error distributions
KR101049905B1 (en) 2009-02-03 2011-07-15 국방과학연구소 Position tracking method of moving target in multiple separation radar system
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EP2584849B1 (en) * 2011-10-17 2019-02-27 Commissariat à l'Énergie Atomique et aux Énergies Alternatives Method for node positioning for a wireless network
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US10200886B2 (en) * 2015-09-14 2019-02-05 Red Point Positioning Corporation Method to estimate and compensate for NLOS bias in time difference of arrival estimate
CN106950540B (en) * 2017-03-23 2020-01-17 北京理工大学 Indoor positioning method based on residual error weighting
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