US20100135178A1 - Wireless position determination using adjusted round trip time measurements - Google Patents

Wireless position determination using adjusted round trip time measurements Download PDF

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Publication number
US20100135178A1
US20100135178A1 US12/622,289 US62228909A US2010135178A1 US 20100135178 A1 US20100135178 A1 US 20100135178A1 US 62228909 A US62228909 A US 62228909A US 2010135178 A1 US2010135178 A1 US 2010135178A1
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United States
Prior art keywords
wireless access
access point
mobile station
distance
wireless
Prior art date
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Abandoned
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US12/622,289
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English (en)
Inventor
Alok Aggarwal
Ayman Fawzy Naguib
Vinay Sridhara
Saumitra Mohan Das
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Qualcomm Inc
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Qualcomm Inc
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Publication date
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Priority to US12/622,289 priority Critical patent/US20100135178A1/en
Priority to EP12005330A priority patent/EP2527861A3/fr
Priority to PCT/US2009/065319 priority patent/WO2010059934A2/fr
Priority to EP14020043.7A priority patent/EP2746802B1/fr
Priority to JP2011537651A priority patent/JP2012509483A/ja
Priority to EP09760407A priority patent/EP2368131B1/fr
Priority to KR1020117014248A priority patent/KR101340788B1/ko
Priority to EP12008413.2A priority patent/EP2600165B1/fr
Priority to CN200980146844.4A priority patent/CN102265174B/zh
Priority to KR1020127025649A priority patent/KR101312896B1/ko
Priority to BRPI0921415A priority patent/BRPI0921415A2/pt
Priority to ES12008413.2T priority patent/ES2511190T3/es
Priority to EP12005329A priority patent/EP2527860A3/fr
Priority to TW102121564A priority patent/TW201344230A/zh
Priority to TW098139792A priority patent/TW201037344A/zh
Assigned to QUALCOMM INCORPORATED reassignment QUALCOMM INCORPORATED ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NAGUIB, AYMAN FAWZY, AGGARWAL, ALOK, DAS, SAUMITRA MOHAN, SRIDHARA, VINAY
Publication of US20100135178A1 publication Critical patent/US20100135178A1/en
Assigned to QUALCOMM INCORPORATED reassignment QUALCOMM INCORPORATED CORRECTIVE ASSIGNMENT TO CORRECT THE TO CORRECT THE MISTAKE OF LEAVING THE SECOND PROVISIONAL, 61/117,055 FILED 11/21/2008, OFF OF THE ASSIGNMET PREVIOUSLY RECORDED ON REEL 023592 FRAME 0406. ASSIGNOR(S) HEREBY CONFIRMS THE SECOND PROVISIONAL, 61/117,055 FILED 11/21/2008, HAS BEEN ADDED TO THE ASSIGNMENT.. Assignors: NAGUIB, AYMAN FAWZY, AGGARWAL, ALOK, DAS, SAUMITRA MOHAN, SRIDHARA, VINAY
Priority to JP2013047651A priority patent/JP2013167630A/ja
Priority to US13/859,658 priority patent/US20130237246A1/en
Priority to US13/859,652 priority patent/US9213082B2/en
Priority to JP2014019055A priority patent/JP5976703B2/ja
Assigned to QUALCOMM INCORPORATED reassignment QUALCOMM INCORPORATED ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: AGGARWAL, ALOK, DAS, SAUMITRA MOHAN, NAGUIB, AYMAN FAWZY, SRIDHARA, VINAY
Abandoned legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • aspects of this disclosure generally relate to wireless communication systems, and more specifically, to improved position determination methods and apparatuses for use with and/or by wireless mobile devices.
  • Mobile communications networks are in the process of offering increasingly sophisticated capabilities associated with the motion and/or position location sensing of a mobile device.
  • New software applications such as, for example, those related to personal productivity, collaborative communications, social networking, and/or data acquisition, may utilize motion and/or position sensors to provide new features and services to consumers.
  • some regulatory requirements of various jurisdictions may require a network operator to report the location of a mobile device when the mobile device places a call to an emergency service, such as a 911 call in the United States.
  • position location capability can be provided by various time and/or phase measurement techniques.
  • one position determination approach used is Advanced Forward Link Trilateration (AFLT).
  • AFLT Advanced Forward Link Trilateration
  • a mobile device may compute its position from phase measurements of pilot signals transmitted from a plurality of base stations. Improvements to AFLT have been realized by utilizing hybrid position location techniques, where the mobile station may employ a Satellite Positioning System (SPS) receiver.
  • SPS Satellite Positioning System
  • the SPS receiver may provide position information independent of the information derived from the signals transmitted by the base stations.
  • position accuracy can be improved by combining measurements derived from both SPS and AFLT systems using conventional techniques.
  • Utilizing RTT measurement techniques to accurately determine position typically involves knowledge of time delays incurred by the wireless signals as they propagate through various network devices comprising the network. Such delays may be spatially variant due to, for example, multipath and/or signal interference. Moreover, such processing delays may change over time based upon the type of network device and/or the network device's current networking load. In practice, when employing conventional RTT positioning techniques, estimating processing delay times may involve hardware changes in the wireless access points, and/or time-consuming pre-deployment fingerprinting and/or calibration of the operational environment.
  • a method may include measuring a round trip time (RTT) to each of a plurality of wireless access points, and estimating a first distance to each wireless access point based upon the round trip time delay and an initial processing time associated with each wireless access point.
  • the method may further include estimating a second distance to each wireless access point based upon supplemental information, combining the first and second distance estimates to each wireless access point, and calculating the position of the mobile station based upon the combined distance estimates.
  • an apparatus for wireless position determination may include a wireless transceiver, a processor coupled to the wireless transceiver, and a memory coupled to the processor.
  • the memory may store executable instructions and data for causing the processor to measure a round trip time (RTT) to each of a plurality of wireless access points, estimate a first distance to each wireless access point based upon the round trip time delay and an initial processing time associated with each wireless access point, estimate a second distance to each wireless access point based upon supplemental information, combine the first and second distance estimates to each wireless access point, and calculate the position of the mobile station based upon the combined distance estimates.
  • RTT round trip time
  • a method for wirelessly determining a position of a mobile station using signals provided by a plurality of wireless access points may include measuring a distance to each wireless access point based upon a wireless signal model and calculating a position of the mobile station based upon the measured distance. The method may further include determining a computed distance to each wireless access point based upon the calculated position of the mobile station, updating the wireless signal model based upon the measured and computed distances to each wireless access point, and determining whether the wireless signal model has converged.
  • an apparatus for wireless position determination of a mobile station using signals provided by a plurality of wireless access points may include a wireless transceiver, a processor coupled to the wireless transceiver, and a memory coupled to the processor.
  • the memory may store executable instructions and data for causing the processor to measure a distance to each wireless access point based upon a wireless signal model, calculate a position of the mobile station based upon the measured distance, determine a computed distance to each wireless access point based upon the calculated position of the mobile station, update the wireless signal model based upon the measured and computed distances to each wireless access point, and determine whether the wireless signal model has converged.
  • a method for wirelessly determining a position of a mobile station may include measuring a round trip time delay to each of a plurality of wireless access points and estimating an initial processing time for each of the wireless access points. The method may further include calculating the position of the mobile station based upon the measured round trip time delays and estimated processing times, and updating the estimated processing time for each of the wireless access points based upon the calculated position of the mobile station.
  • an apparatus for wirelessly determining a position of a mobile station may include a wireless transceiver, a processor coupled to the wireless transceiver, and a memory coupled to the processor.
  • the memory may store executable instructions and data for causing the processor to measure a round trip time delay to each of a plurality of wireless access points, estimate an initial processing time for each of the wireless access points, calculate the position of the mobile station based upon the measured round trip time delays and estimated processing times, and update the estimated processing time for each of the wireless access points based upon the calculated position of the mobile station.
  • Various embodiments may benefit from having wireless access points which do not require knowledge of their processing times and/or require providing this information to mobile stations using beacons, ranging packets, and/or look-up tables. Such advantages can reduce the burden on wireless access point manufacturers, which may be able to avoid modifications their hardware and/or protocols. Moreover, various embodiments may permit reducing the complexity of maintaining a central database of the processing time values for different manufactures of wireless access points.
  • FIG. 1 is a diagram of an exemplary operating environment for a mobile station consistent with embodiments of the disclosure.
  • FIG. 2 is a block diagram illustrating various components of an exemplary mobile station.
  • FIG. 3 is diagram illustrating an exemplary technique for determining a position of a mobile station using information obtained from a plurality of wireless access points.
  • FIG. 4 is a diagram showing exemplary timings within a round trip time (RTT) occurring during a wireless probe request and a response.
  • RTT round trip time
  • FIG. 5 is a graph illustrating an exemplary relationship of a received signal strength indication (RSSI) and the distance between a mobile station and a wireless access point.
  • RSSI received signal strength indication
  • FIG. 6 is a flowchart showing an exemplary process for combining wireless signal models to improve the position determination of a mobile station.
  • FIG. 7 is flowchart of another embodiment of the process illustrated in FIG. 6 , where the distances based upon the measured signal strength (RSSI) and RTT may be combined to improve the position of the mobile station.
  • RSSI measured signal strength
  • FIG. 8 shows a flowchart illustrating an exemplary method for adaptively improving a wireless signal model.
  • FIG. 9 is a graph of exemplary ranging models used to determine the distance between a mobile station and a wireless access point based upon RSSI.
  • FIG. 10 is a diagram of an exemplary indoor environment which may be modeled to improve distance estimates between wireless access points and a mobile station based upon RSSI.
  • FIG. 11 is a flowchart illustrating another exemplary method which uses both RSSI and RTT ranging models for position determination, wherein the RTT model is adaptive model.
  • FIG. 1 is a diagram of an exemplary operating environment 100 for a mobile station 108 .
  • Embodiments of the invention are directed to a mobile station 108 which may utilize a combination of range models and/or for determining position.
  • Other embodiments may adaptively change the ranging models, such as, for example, using round trip time measurements (RTTs) that are adjusted to accommodate for processing delays introduced by wireless access points.
  • RTTs round trip time measurements
  • the processing delays may vary among different access points and may also change over time.
  • RTSI received signal strength indicator
  • the base station may determine position and/or calibrate out the effects of the processing delays introduced by the wireless access points using iterative techniques.
  • RSSI received signal strength indicator
  • the operating environment 100 may contain one or more different types of wireless communication systems and/or wireless positioning systems.
  • a Satellite Positioning System (SPS) 102 may be used as an independent source of position information for the mobile station 108 .
  • the mobile station 108 may include one or more dedicated SPS receivers specifically designed to receive signals for deriving geo-location information from the SPS satellites.
  • the operating environment 100 may also include a plurality of one or more types Wide Area Network Wireless Access Points (WAN-WAPs) 104 , which may be used for wireless voice and/or data communication, and as another source of independent position information for mobile station 108 .
  • the WAN-WAPs 104 may be part of wide area wireless network (WWAN), which may include cellular base stations at known locations, and/or other wide area wireless systems, such as, for example, WiMAX (e.g., 802.16).
  • WWAN wide area wireless network
  • the WWAN may include other known network components which are not shown in FIG. 1 for simplicity.
  • each WAN-WAPs 104 a - 104 c within the WWAN may operate from fixed positions, and provide network coverage over large metropolitan and/or regional areas.
  • the operating environment 100 may further include Local Area Network Wireless Access Points (LAN-WAPs) 106 , may be used for wireless voice and/or data communication, as well as another independent source of position data.
  • LAN-WAPs can be part of a Wireless Local Area Network (WLAN), which may operate in buildings and perform communications over smaller geographic regions than a WWAN.
  • WLAN-WAPs 106 may be part of, for example, WiFi networks (802.11x), cellular piconets and/or femtocells, Bluetooth Networks, etc.
  • the mobile station 108 may derive position information from any one or a combination of the SPS satellites 102 , the WAN-WAPs 104 , and/or the LAN-WAPs 106 .
  • Each of the aforementioned systems can provide an independent estimate of the position for mobile station 108 using different techniques.
  • the mobile station may combine the solutions derived from each of the different types of access points to improve the accuracy of the position data.
  • the mobile station may utilize a receiver specifically designed for use with the SPS that extracts position, using conventional techniques, from a plurality of signals transmitted by SPS satellites 102 .
  • the method and apparatus described herein may be used with various satellite positioning systems, which typically include a system of transmitters positioned to enable entities to determine their location on or above the Earth based, at least in part, on signals received from the transmitters.
  • Such a transmitter typically transmits a signal marked with a repeating pseudo-random noise (PN) code of a set number of chips and may be located on ground based control stations, user equipment and/or space vehicles.
  • PN pseudo-random noise
  • such transmitters may be located on Earth orbiting satellite vehicles (SVs).
  • SVs Earth orbiting satellite vehicles
  • a SV in a constellation of Global Navigation Satellite System such as Global Positioning System (GPS), Galileo, Glonass or Compass may transmit a signal marked with a PN code that is distinguishable from PN codes transmitted by other SVs in the constellation (e.g., using different PN codes for each satellite as in GPS or using the same code on different frequencies as in Glonass).
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • Glonass Compass
  • PN codes e.g., using different PN codes for each satellite as in GPS or using the same code on different frequencies as in Glonass.
  • the techniques presented herein are not restricted to global systems (e.g., GNSS) for SPS.
  • the techniques provided herein may be applied to or otherwise enabled for use in various regional systems, such as, e.g., Quasi-Zenith Satellite System (QZSS) over Japan, Indian Regional Navigational Satellite System (IRNSS) over India, Beidou over China, etc., and/or various augmentation systems (e.g., an Satellite Based Augmentation System (SBAS)) that may be associated with or otherwise enabled for use with one or more global and/or regional navigation satellite systems.
  • QZSS Quasi-Zenith Satellite System
  • IRNSS Indian Regional Navigational Satellite System
  • SBAS Satellite Based Augmentation System
  • an SBAS may include an augmentation system(s) that provides integrity information, differential corrections, etc., such as, e.g., Wide Area Augmentation System (WAAS), European Geostationary Navigation Overlay Service (EGNOS), Multi-functional Satellite Augmentation System (MSAS), GPS Aided Geo Augmented Navigation or GPS and Geo Augmented Navigation system (GAGAN), and/or the like.
  • WAAS Wide Area Augmentation System
  • GNOS European Geostationary Navigation Overlay Service
  • MSAS Multi-functional Satellite Augmentation System
  • GPS Aided Geo Augmented Navigation or GPS and Geo Augmented Navigation system (GAGAN), and/or the like such as, e.g., a Global Navigation Satellite Navigation System (GNOS), and/or the like.
  • SPS may include any combination of one or more global and/or regional navigation satellite systems and/or augmentation systems, and SPS signals may include SPS, SPS-like, and/or other signals associated with such one or more SPS.
  • the disclosed method and apparatus may be used with positioning determination systems that utilize pseudolites or a combination of satellites and pseudolites.
  • Pseudolites are ground-based transmitters that broadcast a PN code or other ranging code (similar to a GPS or CDMA cellular signal) modulated on an L-band (or other frequency) carrier signal, which may be synchronized with GPS time. Each such transmitter may be assigned a unique PN code so as to permit identification by a remote receiver.
  • Pseudolites are useful in situations where GPS signals from an orbiting satellite might be unavailable, such as in tunnels, mines, buildings, urban canyons or other enclosed areas. Another implementation of pseudolites is known as radio-beacons.
  • tellite is intended to include pseudolites, equivalents of pseudolites, and possibly others.
  • SPS signals is intended to include SPS-like signals from pseudolites or equivalents of pseudolites.
  • each WAN-WAPs 104 a - 104 c may take the form of base stations within a digital cellular network, and the mobile station 108 may include a cellular transceiver and processor that can exploit the base station signals to derive position. It should be understood that digital cellular network may include additional base stations or other resources show in FIG. 1 . While WAN-WAPs 104 may actually be moveable or otherwise capable of being relocated, for illustration purposes it will be assumed that they are essentially arranged in a fixed position.
  • the mobile station 108 may perform position determination using known time-of-arrival techniques such as, for example, Advanced Forward Link Trilateration (AFLT).
  • time-of-arrival techniques such as, for example, Advanced Forward Link Trilateration (AFLT).
  • each WAN-WAP 104 a - 104 c may take the form of WiMax wireless networking base station.
  • the mobile station 108 may determine its position using time-of-arrival (TOA) techniques from signals provided by the WAN-WAPs 104 .
  • TOA time-of-arrival
  • the mobile station 108 may determine positions either in a stand alone mode, or using the assistance of a positioning server 110 and network 112 using TOA techniques, as will be described in more detail below.
  • embodiments of the disclosure include having the mobile station 108 determine position information using WAN-WAPs 104 which are different types.
  • some WAN-WAPs 104 may be cellular base stations, and other WAN-WAPs may be WiMax base stations.
  • the mobile station 108 may be able to exploit the signals from each different type of WAN-WAP, and further combine the derived position solutions to improve accuracy.
  • the mobile station 108 may utilize time of arrival techniques with the assistance of the positioning server 110 and the network 112 .
  • the positioning server 110 may communicate to the mobile station through network 112 .
  • Network 112 may include a combination of wired and wireless networks which incorporate the LAN-WAPs 106 .
  • each LAN-WAP 106 a - 106 e may be, for example, a WiFi wireless access point, which is not necessarily set in a fixed position and can change location.
  • the position of each LAN-WAP 106 a - 106 e may be stored in the positioning server 110 in a common coordinate system.
  • the position of the mobile station 108 may be determined by having the mobile station 108 receive signals from each LAN-WAP 106 a - 106 e. Each signal may be associated with its originating LAN-WAP based upon some form of identifying information that may be included in the received signal (such as, for example, a MAC address). The mobile station 108 may then derive the time delays associated with each of the received signals. The mobile station 108 may then form a message which can include the time delays and the identifying information of each of the LAN-WAPs, and send the message via network 112 to the positioning server 110 .
  • the positioning server may then determine a position, using the stored locations of the relevant LAN-WAPs 106 , of the mobile station 108 .
  • the positioning server 110 may generate and provide a Location Configuration Information (LCI) message to the base station that includes a pointer to the mobile station's position in a local coordinate system.
  • the LCI message may also include other points of interest in relation to the location of the mobile station 108 .
  • the positioning server may take into account the different delays which can be introduced by elements within the wireless network.
  • a WWAN may be a Code Division Multiple Access (CDMA) network, a Time Division Multiple Access (TDMA) network, a Frequency Division Multiple Access (FDMA) network, an Orthogonal Frequency Division Multiple Access (OFDMA) network, a Single-Carrier Frequency Division Multiple Access (SC-FDMA) network, a WiMax (IEEE 802.16) and so on.
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-Carrier Frequency Division Multiple Access
  • a CDMA network may implement one or more radio access technologies (RATs) such as cdma2000, Wideband-CDMA (W-CDMA), and so on.
  • Cdma2000 includes IS-95, IS-2000, and IS-856 standards.
  • a TDMA network may implement Global System for Mobile Communications (GSM), Digital Advanced Mobile Phone System (D-AMPS), or some other RAT.
  • GSM and W-CDMA are described in documents from a consortium named “3rd Generation Partnership Project” (3GPP).
  • Cdma2000 is described in documents from a consortium named “3rd Generation Partnership Project 2” (3GPP2).
  • 3GPP and 3GPP2 documents are publicly available.
  • a WLAN may be an IEEE 802.11x network
  • a WPAN may be a Bluetooth network, an IEEE 802.15x, or some other type of network. The techniques may also be used for any combination of WWAN, WLAN and/or WPAN.
  • FIG. 2 is a block diagram illustrating various components of an exemplary mobile station 200 .
  • the various features and functions illustrated in the box diagram of FIG. 2 are connected together using a common bus which is meant to represent that these various features and functions are operatively coupled together.
  • Those skilled in the art will recognize that other connections, mechanisms, features, functions, or the like, may be provided and adapted as necessary to operatively couple and configure an actual portable wireless device.
  • one or more of the features or functions illustrated in the example of FIG. 2 may be further subdivided or two or more of the features or functions illustrated in FIG. 2 may be combined.
  • the mobile station may include one or more wide area network transceiver(s) 204 that may be connected to one or more antennas 202 .
  • the wide area network transceiver 204 comprises suitable devices, hardware, and/or software for communicating with and/or detecting signals to/from WAN-WAPs 104 , and/or directly with other wireless devices within a network.
  • the wide area network transceiver 204 may comprise a CDMA communication system suitable for communicating with a CDMA network of wireless base stations; however in other aspects, the wireless communication system may comprise another type of cellular telephony network, such as, for example, TDMA or GSM. Additionally, any other type of wireless networking technologies may be used, for example, WiMax (802.16), etc.
  • the mobile station may also include one or more local area network transceivers 206 that may be connected to one or more antennas 202 .
  • the local area network transceiver 206 comprises suitable devices, hardware, and/or software for communicating with and/or detecting signals to/from LAN-WAPs 106 , and/or directly with other wireless devices within a network.
  • the local area network transceiver 206 may comprise a WiFi (802.11x) communication system suitable for communicating with one or more wireless access points; however in other aspects, the local area network transceiver 206 comprise another type of local area network, personal area network, (e.g., Bluetooth). Additionally, any other type of wireless networking technologies may be used, for example, Ultra Wide Band, ZigBee, wireless USB etc.
  • wireless access point may be used to refer to LAN-WAPs 106 and/or WAN-WAPs 104 .
  • WAP wireless access point
  • embodiments may include a mobile station 200 that can exploit signals from a plurality of LAN-WAPs 106 , a plurality of WAN-WAPs 104 , or any combination of the two.
  • the specific type of WAP being utilized by the mobile station 200 may depend upon the environment of operation.
  • the mobile station 200 may dynamically select between the various types of WAPs in order to arrive at an accurate position solution.
  • An SPS receiver 208 may also be included in mobile station 200 .
  • the SPS receiver 208 may be connected to the one or more antennas 202 for receiving satellite signals.
  • the SPS receiver 208 may comprise any suitable hardware and/or software for receiving and processing SPS signals.
  • the SPS receiver 208 requests information and operations as appropriate from the other systems, and performs the calculations necessary to determine the mobile station's 200 position using measurements obtained by any suitable SPS algorithm.
  • a motion sensor 212 may be coupled to processor 210 to provide relative movement and/or orientation information which is independent of motion data derived from signals received by the wide area network transceiver 204 , the local area network transceiver 206 and the SPS receiver 208 .
  • motion sensor 212 may utilize an accelerometer (e.g., a MEMS device), a gyroscope, a geomagnetic sensor (e.g., a compass), an altimeter (e.g., a barometric pressure altimeter), and/or any other type of movement detection sensor.
  • motion sensor 212 may include a plurality of different types of devices and combine their outputs in order to provide motion information.
  • a processor 210 may be connected to the wide area network transceiver 204 , local area network transceiver 206 , the SPS receiver 208 and the motion sensor 212 .
  • the processor may include one or more microprocessors, microcontrollers, and/or digital signal processors that provide processing functions, as well as other calculation and control functionality:
  • the processor 210 may also include memory 214 for storing data and software instructions for executing programmed functionality within the mobile station.
  • the memory 214 may be on-board the processor 210 (e.g., within the same IC package), and/or the memory may be external memory to the processor and functionally coupled over a data bus.
  • memory 214 may include and/or otherwise receive a positioning module 216 , an application module 218 , a received signal strength indicator (RSSI) module 220 , and a round trip time (RTT) module 222 .
  • RSSI received signal strength indicator
  • RTT round trip time
  • the application module 218 may be a process running on the processor 210 of the mobile device 200 , which requests position information from the positioning module 216 .
  • Applications typically run within an upper layer of the software architectures, and may include Indoor Navigation, Buddy Locator, Shopping and Coupons, Asset Tracking, and location Aware Service Discovery.
  • the positioning module 216 may derive the position of the mobile device 200 using information derived from the RTTs measured from signals exchanged with a plurality of WAPs. In order to accurately determine position using RTT techniques, reasonable estimates of processing time delays introduced by each WAP may be used to calibrate/adjust the measured RTTs.
  • the measured RTTs may be determined by the RTT module 222 , which can measure the timings of signals exchanged between the mobile station 200 and the WAPs to derive round trip time (RTT) information.
  • RTT round trip time
  • the RTT values may be passed to the positioning module 216 to assist in determining the position of the mobile device 200 .
  • the positioning module 216 may use supplemental information to estimate the processing times of the WAPs.
  • the amplitude values of the signals transmitted by the WAPs may be used to provide this information. These amplitude values may be determined in the form of RSSI measurements determined by RSSI module 220 .
  • the RSSI module 220 may provide amplitude and statistical information regarding the signals to the position module 216 .
  • the position module may then estimate the processing times to calibrate the RTT measurements and accurately determine position.
  • the position may then be output to the application module 218 in response to its aforementioned request.
  • the positioning module 216 may utilize a parameter database 224 for exchanging operational parameters. Such parameters may include the determined processing times for each WAP, the WAPs positions in a common coordinate frame, various parameters associated with the network, initial processing time estimates, processing time estimates determined previously, etc. Details of these parameters will be provided in subsequent sections below.
  • the supplemental information may optionally include auxiliary position and/or motion data which may be determined from other sources.
  • the auxiliary position data may be incomplete or noisy, but may be useful as another source of independent information for estimating the processing times of the WAPs.
  • mobile device 200 may optionally store auxiliary position/motion data 226 in memory which may be derived from information received other sources as described below.
  • supplemental information may include, but not be limited to, information that can be derived or based upon Bluetooth signals, beacons, RFID tags, and/or information derived from map (e.g., receiving coordinates from a digital representation of a geographical map by, for example, a user interacting with a digital map).
  • auxiliary position/motion data 226 may be derived from information supplied by motion sensor 212 and/or SPS receiver 208 .
  • auxiliary position/motion data 226 may be determined through additional networks using non-RTT techniques (e.g., AFLT within a CDMA network).
  • all or part of auxiliary position/motion data 226 may also be provided by way of motion sensor 212 and/or SPS receiver 208 without further processing by processor 210 .
  • the auxiliary position/motion data 226 may be directly provided by the motion sensor 212 and/or SPS receiver 208 to the processing unit 210 .
  • Position/motion data 226 may also include acceleration data and/or velocity data which may provide direction and speed. In other embodiments, position/motion data 226 may further include directionality data which may only provide direction of movement.
  • positioning module 216 and/or application module 218 may be provided in firmware. Additionally, while in this example positioning module 216 and application module 218 are illustrated as being separate features, it is recognized, for example, that such procedures may be combined together as one procedure or perhaps with other procedures, or otherwise further divided into a plurality of sub-procedures.
  • Processor 210 may include any form of logic suitable for performing at least the techniques provided herein.
  • processor 210 may be operatively configurable based on instructions in memory 214 to selectively initiate one or more routines that exploit motion data for use in other portions of the mobile device.
  • the mobile station 200 may include a user interface 250 which provides any suitable interface systems, such as a microphone/speaker 252 , keypad 254 , and display 256 that allows user interaction with the mobile station 200 .
  • the microphone/speaker 252 provides for voice communication services using the wide area network transceiver 204 and/or the local area network transceiver 206 .
  • the keypad 254 comprises any suitable buttons for user input.
  • the display 256 comprises any suitable display, such as, for example, a backlit LCD display, and may further include a touch screen display for additional user input modes.
  • mobile station 108 may be any portable or movable device or machine that is configurable to acquire wireless signals transmitted from, and transmit wireless signals to, one or more wireless communication devices or networks. As shown in FIGS. 1 and 2 , the mobile device is representative of such a portable wireless device. Thus, by way of example but not limitation, mobile device 108 may include a radio device, a cellular telephone device, a computing device, a personal communication system (PCS) device, or other like movable wireless communication equipped device, appliance, or machine.
  • PCS personal communication system
  • mobile station is also intended to include devices which communicate with a personal navigation device (PND), such as by short-range wireless, infrared, wire line connection, or other connection—regardless of whether satellite signal reception, assistance data reception, and/or position-related processing occurs at the device or at the PND.
  • PND personal navigation device
  • mobile station is intended to include all devices, including wireless communication devices, computers, laptops, etc. which are capable of communication with a server, such as via the Internet, WiFi, or other network, and regardless of whether satellite signal reception, assistance data reception, and/or position-related processing occurs at the device, at a server, or at another device associated with the network. Any operable combination of the above are also considered a “mobile station.”
  • wireless device may refer to any type of wireless communication device which may transfer information over a network and also have position determination and/or navigation functionality.
  • the wireless device may be any cellular mobile terminal, personal communication system (PCS) device, personal navigation device, laptop, personal digital assistant, or any other suitable mobile device capable of receiving and processing network and/or SPS signals.
  • PCS personal communication system
  • FIG. 3 A simplified environment is shown in FIG. 3 for illustrating an exemplary technique for determining a position of mobile station 108 .
  • the mobile station 108 may communicate wirelessly with a plurality of WAPs 311 using RF signals (e.g., 2.4 GHz) and standardized protocols for the modulation of the RF signals and the exchanging of information packets (e.g., IEEE 802.11).
  • RF signals e.g., 2.4 GHz
  • standardized protocols for the modulation of the RF signals and the exchanging of information packets e.g., IEEE 802.11.
  • the mobile station 108 may determine its position in a predefined reference coordinate system. As shown in FIG.
  • the mobile station may specify its position (x, y) using a two-dimensional coordinate system; however, embodiments disclosed herein are not so limited, and may also be applicable to determining positions using a three-dimensional coordinate system, if the extra dimension is desired. Additionally, while three WAPS 311 a - 311 c are shown in FIG. 3 , embodiments may utilize additional WAPs and solve for position using techniques applicable to over-determined systems, which can average out various errors introduced by different noise effects, and thus improve the accuracy of the determined position. In order to determine its position (x, y), the mobile station 108 may first need to determine the network geometry.
  • the network geometry may be provided to the mobile station 108 in any manner, such as, for example, providing this information in beacon signals, providing the information using a dedicated server external on an external network, providing the information using uniform resource identifiers, etc.
  • d k a distance between the mobile station 108 and WAPs 311 .
  • characteristics may include, as will be discussed below, the round trip propagation time of the signals, and/or the strength of the signals (RSSI).
  • the distances (d k ) may in part be determined or refined using other sources of information that are not associated with the WAPs.
  • other positioning systems such as GPS, may be used to provide a rough estimate of d k .
  • GPS signals may be combined with other information to assist in the position determination process.
  • Other relative positioning devices may reside in the mobile station 108 which can be used as a basis to provide rough estimates of relative position and/or direction (e.g., on-board accelerometers).
  • Sections 1 and 2 below will discuss in more detail the following wireless signal models: 1) exemplary models relating distance and wireless signal round trip time, and 2) exemplary models relating distance and wireless signal strength. As both of the exemplary models relate distance to different signal parameters, they may also be referred to as “ranging” models. One should appreciate that various embodiments of the invention are not limited to these ranging models, and that other wireless signal models may be used.
  • Determining the distance between the mobile station 108 and each WAP 311 may involve exploiting time information of the RF signals.
  • determining the round trip time (RTT) of signals exchanged between the mobile station 108 and a WAP 311 can be performed and converted to a distance (d k ).
  • RTT techniques can measure the time between sending a data packet and receiving a response. These methods utilize calibration to remove any processing delays. In some environments, it may be assumed that the processing delays for the mobile station and the wireless access points are the same. However, such an assumption may not be true in practice.
  • FIG. 4 is a diagram showing exemplary timings within a round trip time (RTT) occurring during a wireless probe request and a response.
  • the response may take the form of an acknowledgement packet (ACK); however, any type of response packet would be consistent with various embodiments of the invention.
  • RTS request to send
  • CTS clear to send
  • the mobile station 108 may send a directed probe request to WAP 311 k, and then record the time the probe request packet was sent (t TX Packet) as shown on the mobile station (MS) timeline in FIG. 4 .
  • t TX Packet time the probe request packet was sent
  • MS mobile station
  • the mobile station 108 may record the time the ACK packet was received (t RX ACK) as shown on the MS time line. The mobile station may then determine the RTT as the time difference t RX ACK ⁇ t TX Packet.
  • the mobile station 108 If the mobile station 108 knows the WAP 311 k processing time ⁇ , it can then estimate the propagation time to the WAP 311 k as (RTT ⁇ )/2, which will correspond to the distance (d k ) between the mobile station 108 and the WAP 311 k. However, since the mobile station 108 typically has no knowledge of the WAP 311 k processing time, the mobile station 108 should obtain an accurate estimate of the processing time ⁇ before it can estimate the distance to the WAP 311 k. Various techniques presented below will describe embodiments where the mobile station 108 processes the collected RSSI and RTT measurements to three or more WAPs 311 to accurately estimate the WAPs 311 processing times to allow the determination of the mobile station's position in space.
  • the wireless device 108 does not need to associate with any of the WAPs 311 . Since a directed access probe is considered a unicast packet, the WAP will typically ACK a successful decoding of an access probe packet after a prescribed period of time. The ability to do this ranging without having to associate with the WAPs 311 may greatly reduce the extra overhead involved.
  • the round-trip time between the mobile station 108 and WAP k may be analyzed in a ranging model as follows:
  • d k is the actual distance between the mobile station 108 and WAP 311 k (ft).
  • ⁇ k is the hardware processing time of the k th WAP (ns).
  • ⁇ MS is the hardware processing time at the mobile station 108 (ns).
  • the processing delay can be calibrated out the by the mobile station 108 . Accordingly, it can be set to be zero.
  • n k n z,k +n MS,k +n AP,k , which is the error in the RTT measurement (ns).
  • This error is the sum of the errors due to unknown WAP height, mobile station timing errors, and WAP timing errors.
  • the velocity of light may be approximated as unity to simplify the model and reduce computation time by avoiding multiply operations.
  • the overall noise n k may be the sum of the WAP height, mobile station timing, and WAP timing errors listed above. After combining all these errors, the resulting probability density function may be very close to Gaussian. Thus, the noise may be modeled as Gaussian with the distance-dependent mean and standard deviation.
  • the distance between each WAP 311 and the mobile station 108 may also be estimated using information in addition to RTT for obtaining an estimate of the processing times explained above.
  • This information is generally referred to herein as supplemental information.
  • One form of supplemental information may take the form of the measured signal strength (RSSI) associated with the ACK packets received from each WAP 311 .
  • FIG. 5 is a graph illustrating an exemplary relationship of RSSI and the distance between a mobile station and a wireless access point.
  • the mobile station 108 may utilize an approximate ranging model of distance, and variance of the distance, as a function of the received signal strength (RSSI).
  • RSSI received signal strength
  • This model may be used when the mobile station 108 is initially trying to learn the WAP processing delays.
  • the RSSI model can be extremely simple, without the need for extensive pre-deployment fingerprinting.
  • the model may assume that the only RSSI information known to the mobile station is the approximate maximum distance d max , in feet, as a function of RSSI in dBm. Based on initial propagation simulations for an indoor environment with WAPs having a maximum range of 225 feet, this function is provided below in Eq. 2, which is graphed in FIG. 5 .
  • the mobile station 108 may convert any measured RSSI to a distance estimate that may be modeled as normally distributed with the following relationships in Eqs. 3 and 4:
  • the mobile station could also model the minimum distance as a function of signal strength.
  • the minimum distance for 2-D positioning, it is possible that a mobile station is close to a WAP in the X-Y plane (the distance utilized for positioning purposes), but sees arbitrary signal strength because of distance and obstacles in the Z-dimension.
  • the simple RSSI model takes the minimum distance vs. signal strength as 0 ft for all RSSI.
  • the mobile device 108 may estimate distances to three or more wireless access points using the two or more ranging models. Each wireless access point has positions which are known to the mobile device by providing the network geometry information using techniques mentioned above. Using these distance estimates and the location of the wireless access points 311 , the mobile station 108 can determine its position using known positioning techniques.
  • FIG. 6 is a flowchart showing an exemplary method 600 for combining ranging models to improve the position determination of the mobile station 108 .
  • the method may be performed at the mobile station 108 on processor 210 using various modules and data stored in memory 214 .
  • the parameters/models may include:
  • parameters 1-3 above may be obtained from annotations from a map, as described above.
  • parameters 2 and 3 may be learned by the mobile station 108 by listening to beacons that may be provided by the WAPs 311 (e.g., for a WiFi network, mobile station 108 may determine the SSID and the MACID from standard beacon signals).
  • Parameter 4 above may be an a priori coarse initial estimate based upon WAP specifications, and/or a more refined value learned previously by the mobile station 108 .
  • the initial processing time read from the parameter database 224 may have been provided from the server 110 , which may have been previously learned by mobile station 108 , or by another mobile station.
  • the processing time for each WAP 311 ⁇ k may be the turnaround time for sending a response to a unicast packet.
  • this processing time may correspond to a delay known as the short interframe space (SIFS) and typically lies within 16000 ⁇ 900 ns for a 20 MHz channel.
  • SIFS short interframe space
  • the mobile device can obtain the initial processing delays for a WAP 311 k by using its hardware identifier (e.g., a MACID) in a local cache that can be stored in parameter database 224 , or an external database to obtain an estimate of the processing time.
  • a hardware identifier e.g., a MACID
  • some embodiments may use a model of distance vs. RSSI for each WAP 311 that can map each signal strength measurement RSSI k to a distance that may be normally distributed with mean d RSSI,k and and variance ⁇ d RSSI ,k 2 . If no model is available, the mobile device can use a default model (such as, for example, the model described above in Eq. 2).
  • the mobile station 108 may measure round trip time (RTT) to each WAP 311 (B 610 ).
  • RTT round trip time
  • the mobile station 108 either using the wide area network transceiver 204 , the local area network transceiver 206 , or a combination of the two, may send a directed probe request using the each WAP 311 based upon the hardware identifier (e.g., MACID for WAP 311 k ).
  • the mobile station can perform RTT ranging measurements without associating with the WAPs 311 .
  • WAPs for RTT measurements which are locked down using some form of wireless encryption (e.g., WEP, WAP, RADIUS, etc.) and require a pass-code for access.
  • some form of wireless encryption e.g., WEP, WAP, RADIUS, etc.
  • embodiments are not limited to probe request packets, and other types of packets may be used.
  • each RTT measurement for WAP 311 k may be given by
  • the units for distance and time are feet and nano-seconds, respectively, so the speed of light propagation may be estimated as ⁇ 1 ft/ns. This approximation may be useful as it may obviate multiplication operations when converting between distance and time, thus saving processing time and power consumption.
  • the distance between the mobile station and each WAP 311 k may be estimated (B 615 ).
  • the actual processing time delay ⁇ k for each WAP 311 k may be previously determined using manufacturer specifications and/or calibration techniques, and subsequently stored in parameter database 224 for used by the mobile station 108 .
  • a supplemental distance to each WAP may be estimated using another approach(es) which may not rely on the RTT of the signal, but rather some other supplemental information (B 620 ).
  • the supplemental distance is the same distance (d k ) as discussed above, but it is estimated using techniques other than RTT.
  • the supplemental information may exploit one or more alternative properties of the signals exchanged between the mobile station 108 and the WAPs 311 , such as, for example, amplitude and/or phase.
  • the supplemental information may a previously determined position.
  • amplitude e.g., RSSI
  • sensors may provide supplemental information that may be useful.
  • accelerometers or other forms of networked position determination may help estimate distances between the WAPs and mobile station 108 .
  • SPS signals may be weak and/or intermittent in some of the operating environments of method 600 , there may be, in some environments, adequate SPS signal strength which may be sufficient for determining supplemental distances between the mobile station 108 and the WAPs 311 .
  • a mobile station with a set of valid ephemerides may be able to detect when it is indoors vs. outdoors based on its ability to detect satellites. This can help eliminate conditions when a portion of the initial bounded space is outside. If the system has provided WGS84 coordinates for the WAPs or a WGS84 landmark on a map, the mobile station 108 may also be able to use its last-known position from SPS to limit its current position.
  • the mobile station 108 may have motion sensor-based information (from motion sensor 212 ) which may relate its current position to a previously established position. If, for example, a mobile station includes an accelerometer, it may know that it has experienced at most 4 meters of movement from a previously established position It can use that data to limit the range of locations at which it may currently be. A triaxial accelerometer and altimeter might also be combined to determine movement along the Z axis.
  • the distance estimates may be processed to generate a combined distance estimate to each WAP (B 625 ).
  • This processing may include any type of statistical and/or deterministic approaches, including kalman filters, fading memory filters, minimal mean square error (MMSE) techniques, etc.
  • the mobile station 108 may determine its position using conventional trilateration methods based upon the combined distances and the network geometry (B 630 ).
  • FIG. 7 is flowchart of another embodiment 700 providing an alternative approach to the process blocks 615 - 625 illustrated in FIG. 6 .
  • the supplemental distances are based upon the measured signal strength RSSI associated with the ACK responses provided by the WAPs 311 .
  • the RSSI measurements for each WAP may be mapped to distances using the models described above. These RSSI-based distances may be used in conjunction with RTT-based distances to determine position of the mobile station 108 , and to calibrate the processing times of the WAPs 311 .
  • the distance to each WAP 311 k is determined based upon the RSSI (B 715 ).
  • the measured RSSI k values may be the average of the RTT ranging packets measured from each WAP 311 k.
  • the mobile station 108 may determine the distance to each WAP 311 k using RSSI k based upon the following equation.
  • RSSI,k f d (RSSI k )
  • RSSI ,k f ⁇ 2 (RSSI k )
  • the mobile station 108 may then estimate the mean and variance of the RTT noise n k . Once the mobile station 108 determines the RTT noise, the following can be estimated.
  • ⁇ circumflex over ( ⁇ ) ⁇ n,k 2 ⁇ n,k 2 ( d RSSI,k +2 ⁇ d RSSI ,k )
  • the mobile device 108 may then determine the distance to each WAP 311 k based upon the measured RTT (B 720 ), and may also determine the variance of the distance based on the measured RTT using the following equations.
  • the mobile station 108 may truncate d RTT,k if necessary to fall between 0 and the maximum WAP 311 range.
  • the mobile station 108 may determine a combined distance estimate to each WAP 311 k (B 723 ).
  • the combined distance estimate may be performed using a weighted combination of the RTT-based distance d RTT,k and the RSSI-based distance d RSSI,k for each WAP 311 k to determine a distance estimate d est,k .
  • This distance estimate may be determined by using a Minimum Mean Square Error (MMSE) estimator based on the following equation:
  • MMSE Minimum Mean Square Error
  • d est , k ( ⁇ d RSSI , k - 2 ⁇ d RSSI , k - 2 + ⁇ d RTT , k - 2 ) ⁇ d est , k + ( ⁇ d RTT , k - 2 ⁇ d RSSI , k - 2 + ⁇ d RTT , k - 2 ) ⁇ d RTT , k ,
  • ⁇ d est ,k 2 ( ⁇ d RSSI ,k ⁇ 2 + ⁇ d RTT ,k ⁇ 2 ) ⁇ 1 .
  • the above equations may assume that the RSSI and RTT noise can be modeled as uncorrelated and Gaussian.
  • the above distance estimator may rely on RSSI when ⁇ d RTT ,k 2 is large, either from uncertainty in the processing time or very noisy RTT measurements. However, once the processing time is known (e.g., low
  • the above MMSE estimator may put more weight on the RTT measurements.
  • the method may then proceed to Block 725 , where the position of the mobile device 108 may be determined using known trilateration techniques. In other embodiments, triangulation or other positioning algorithms may be used. The distances with lower variance ⁇ d est ,k 2 may be given more weight in the algorithm.
  • the trilateration algorithm may also utilize past localization data to perform trajectory smoothing using, for example, Kalman filtering.
  • various embodiments of the invention provide for updating the ranging models to improve their accuracy in an adaptive manner.
  • the processing times ⁇ circumflex over ( ⁇ ) ⁇ k associated with each WAP 311 k used in the RTT ranging model may be updated using an iterative approach.
  • these processing times ⁇ circumflex over ( ⁇ ) ⁇ k can be refined through a “learning” process to arrive at better values.
  • the RSSI ranging models may be adjusted using an adaptive process to improve their fidelity. Different aspects of the models may be continuously monitored and updated if it is determined that the model should be improved.
  • FIG. 8 shows a flowchart illustrating an exemplary method 800 for adaptively improving a wireless signal model.
  • the mobile station 108 may measure the distance to each WAP 311 k using a wireless signal model (B 815 ). While only one model is discussed here for ease of explanation, other embodiments may use a plurality of wireless signal models.
  • a position of the mobile station 108 may then be calculated using conventional localization (e.g., trilateration) techniques (B 820 ). Once the mobile station 108 position has been estimated, mobile station 108 may compute the distance between the estimated position and each WAP 311 k. Using the computed distances determined in B 825 and the measured distances determined in B 815 , mobile station 108 may update the wireless signal model to improve its fidelity.
  • conventional localization e.g., trilateration
  • the RTT ranging model may be improved by updated the processing time ⁇ circumflex over ( ⁇ ) ⁇ k associated with each WAP 311 k.
  • coefficients associated with the RSSI ranging model may be updated, as will also be described in more detail below.
  • a test may be performed to determine if the model has converged (B 835 ). This test may be a simple threshold of a parameter of interest in the model, or may be a more sophisticated metric based on statistical measurements. Once the model has converged, any further iterations may only bring marginal improvements to the model and are thus may not be worth performing. If no further convergence is observed in B 835 , then subsequent position determinations may be performed using the updated wireless model (B 840 ).
  • the mobile station 108 may update the estimated processing times ⁇ circumflex over ( ⁇ ) ⁇ k for each WAP 311 k based upon the position.
  • the mobile station 108 After performing the position determination in B 820 (e.g., trilateration), the mobile station 108 has the option of updating a local (e.g., parameter database 224 ) or remote database with information about the processing times ⁇ circumflex over ( ⁇ ) ⁇ k , observed WAPs 311 k (e.g., based upon MACID).
  • a local e.g., parameter database 224
  • remote database e.g., a remote database with information about the processing times ⁇ circumflex over ( ⁇ ) ⁇ k , observed WAPs 311 k (e.g., based upon MACID).
  • Embodiments allow the localization system to learn and adapt over time by varying each ⁇ circumflex over ( ⁇ ) ⁇ k , without requiring a substantial up-front deployment cost.
  • This algorithm may assume that the trilateration error at the current position in space is uncorrelated with previous measurements. That is, the mobile station 108 should perform this processing delay update procedure when it has moved sufficiently far from its previous location in space.
  • the mobile station 108 could estimate such movement detecting a large change in the RSSI or RTT measurements and/or by utilizing other sensors (e.g., motion sensor 212 ).
  • the mobile station 108 may calculate the distance d tri,k between the estimated position and WAP 311 k.
  • the average round-trip time RTT k and the post-trilateration distance d tri,k may be related via the following matrix equation:
  • ⁇ k is the exact processing time delay for WAP 311 k
  • d k is the exact distance to WAP 311 k
  • n k is the average noise in the RTT measurements
  • ⁇ k is the post-trilateration error.
  • the mobile station 108 can model all variables on the right side of the above matrix equation as being uncorrelated and normally distributed as described below.
  • the mobile station 108 can then form an updated estimate of the processing time delays using minimum mean square error (MMSE) techniques as shown using the equations below:
  • MMSE minimum mean square error
  • the new processing time ⁇ circumflex over ( ⁇ ) ⁇ k,new may be a weighted sum of the current processing time ⁇ circumflex over ( ⁇ ) ⁇ k and a measured processing time ⁇ circumflex over ( ⁇ ) ⁇ k,measured that may be derived from the RTT measurements, the RSSI distances, and the post-trilateration distances.
  • the weights may depend on the estimated variance of the processing time.
  • ⁇ circumflex over ( ⁇ ) ⁇ k,new ⁇ circumflex over ( ⁇ ) ⁇ k,measured .
  • ⁇ circumflex over ( ⁇ ) ⁇ k,new may be updated whenever the measurements cause a substantial decrease in
  • the processing time may reach a steady state with ⁇ circumflex over ( ⁇ ) ⁇ k,new ⁇ circumflex over ( ⁇ ) ⁇ k .
  • the wireless signal model may be based upon an RSSI ranging model.
  • FIG. 9 is a graph of exemplary ranging models used to determine the distance between a mobile station and a wireless access point based upon RSSI.
  • the mobile station 108 may “listen” for signals transmitted by each WAP 311 k, where the signals may be in the form of beacons. The signal strength of each transmission may be converted to a distance using a model that may be based on the deployment environment, such as, for example, an office building or shopping mall.
  • the exemplary plot of RSSI vs. distance is representative of an indoor environment, with upper and lower bounds being shown. These bounds may be based upon the variance of the RSSI.
  • the model may be based on propagation models based upon a map of the WAP deployment.
  • the models may be used to convert signal strength to a distance for each WAP 311 k.
  • An initial distance estimate may be determined by the midpoint of the min/max range from the RSSI, although more sophisticated approaches may be used.
  • Trilateration may be performed using the initial distance estimates to roughly approximate the position of the mobile station 108 .
  • the variance of the RSSI measurements may be used to weight distance estimates based upon confidence prior to trilateration (e.g., low variance distance estimates may be weighted higher than high variance estimates).
  • multiple measurements may be performed to each WAP 311 in a short time interval to reduce noise via averaging, filtering, and/or other processing.
  • various model(s) may provide an average distance, and a variance in this distance, as a function of RSSI.
  • Advantages of using such a model may include: avoiding time-consuming fingerprinting of the environment of interest; generating no additional wireless traffic to determine the estimates; and utilizing standard wireless protocols (e.g., 802.11 a/b/g/n, etc.) without having to alter them.
  • standard wireless protocols e.g., 802.11 a/b/g/n, etc.
  • FIG. 10 illustrates a diagram of an exemplary indoor environment 1000 which may be modeled to improve distance estimates between wireless access points and a mobile station based upon RSSI.
  • the mobile station 108 may be able to exchange wireless signals with a plurality of Local Area Network Wireless Access Points (LAN-WAPs) 1006 .
  • LAN-WAPs Local Area Network Wireless Access Points
  • One may expect, in the absence of other forms of electronic interference, that the signals received from LAN-WAPs 1006 a 1006 c, and 1006 e would be relatively strong.
  • LAN-WAPs may reside in different rooms, and may have the signals attenuated by building obstructions such as walls.
  • the attenuation of signals exchanged with LAN-WAPs 1006 b and 1006 e may vary depending upon the material used in the construction of the walls.
  • RSSI models relating distance and signal strength may be generated based upon the indoor environment 1000 .
  • Such models may include the geometry of each LAN-WAP in relation to the mobile device 108 , and/or geometry of each LAN-WAP in relation to the obstructions within the environment.
  • models may also include other factors affecting the signal, such as, for example, the material of the obstructions to module their attenuation effects (e.g.
  • the mobile station may already be receiving the LAN-WAP network geometry through a particular channel.
  • a particular channel may be used to provide information about the local conditions which may be presumed to exist.
  • the channel may be used to provide a ray-tracing based model of the local conditions which would improve on the fidelity of the base RSSI model.
  • This model might be provided in the forms as detailed as the ray-tracing of the venue or as simple as a reference to a known set of general models (e.g. “auditorium”, “cube farm”, “high-rise office”).
  • a full map of the environment may be provided, and the mobile station 108 may also produce its own ray-tracing model, and/or perform pattern-matching to pick a more appropriate RSSI model.
  • the RSSI model may be dynamic in nature, and thus can be refined in an iterative manner over time as the mobile station 108 moves throughout the environment 1000 .
  • the mobile station 108 may initially start with a simple model of how the RSSI behaves with distance (for example, as described above in FIG. 5 and FIG. 9 ), using a ray-tracing model generated from a map of the environment, and/or from a generic model such as office, warehouse, mall, etc.
  • the mobile station 108 may then move around the environment, localizing itself using the positioning algorithm described in above. Deviations from the model may be compared, and the model updated, based upon the computed position of the mobile station 108 .
  • FIG. 11 is a flowchart showing another exemplary process 1100 for which uses both RTT and RSSI ranging modules for determining the position of a mobile station and adaptively improving the RTT model.
  • the mobile station may determine an initial estimation of the WAP 311 processing times based on the known limitations of the WAP radio ranges.
  • the mobile station 108 may calculate its position using a trilateration algorithm, where typically at least three WAPs 311 are visible in two-dimensional space.
  • the mobile station may perform updates to prior estimates of the WAP 311 processing times by comparing its most recent calculated position with prior position solutions. Using the updated position calculations and additional RTT measurements, the mobile station 108 may continue refining the processing time estimate as more measurements are taken. The details of this process are presented below.
  • Process 1100 may start out by having the mobile device 108 initialize various parameters associated with each WAP 311 k (B 1105 ). This process may be similar to the initialization described in B 605 . The mobile station 108 may then perform RTT measurements to each WAP 311 k (B 1110 ). As before, the model for RTT may be provided as:
  • the foregoing method may estimate the processing time ⁇ k for each WAP 311 k.
  • this model differs from model used in the aforementioned process 800 described above in 3.1, in that the noise n k may be modeled here using a uniform distribution, whereas in process 800 a Gaussian distribution may be used.
  • the noise n k may be mitigated by averaging several measurements taken in the same location. This assumption may be reasonable if the mobile station 108 is stationary or moving at low speed.
  • the speed of light propagation may be estimated as ⁇ 1 ft/ns.
  • the mobile station may determine an initial estimate of each WAP 311 k processing time ⁇ circumflex over ( ⁇ ) ⁇ k based upon signal strength measurements (B 1115 ).
  • the mobile station 108 can bracket the distance d k a WAP 311 k to be in an interval between a maximum range (R k,min ) and a minimum range (R k,min ), as represented by the equation below.
  • the initial estimate of processing time ⁇ circumflex over ( ⁇ ) ⁇ k,init may be approximated as the midpoint of the above interval for each WAP 311 k:
  • the initial estimate of processing time ⁇ circumflex over ( ⁇ ) ⁇ k,init may be approximated as the midpoint of the intersection of the above intervals for WAPs 311 :
  • the process 1100 may next calculate the position of the mobile station based on the measured RTTs and then WAP processing time estimates (B 1120 ). To determine position, the mobile station 108 may convert the RTT measurements associated with each WAP 311 k to an estimated distance ⁇ circumflex over (d) ⁇ k . The estimated distance to each WAP 311 k may be determined using the following equation.
  • the mobile station 108 may calculate its position (x,y) using trilateration. Typically, the error in the calculated position (x,y) is less that the error associated with each estimated distance.
  • the process may then update the distance to each WAP 311 then determine a new processing time for each WAP based upon the new distance (B 1125 ).
  • the new distance to each WAP 311 k may be determined using the following equation.
  • ⁇ circumflex over (d) ⁇ ′ k ⁇ ( x,y ) ⁇ ( x k ,y k ) ⁇
  • the mobile station 108 may update the processing time estimate ⁇ circumflex over ( ⁇ ) ⁇ ′ k using the following equation, when each WAP 311 k has a different processing time.
  • each WAP 311 k has substantially the same processing time, the following equation may be used to update the processing time estimate.
  • ⁇ circumflex over ( ⁇ ) ⁇ ′ mean(RTT k ⁇ 2 ⁇ circumflex over (d) ⁇ ′ k )
  • a test may be performed to determine if further iterations should be made to further refine the processing time estimates.
  • the WAP 311 processing estimates may be tested to determine if they have converged (B 1135 ).
  • a test may be performed on the distances to each WAP, or a mathematical functions thereof (e.g., mean distances), to determine whether further refinements to the processing time should be performed. If further iterations are useful, the process 1100 may loop back to Block 1140 , where the round trip time to each WAP 311 k is measured again.
  • multiple measurements may be performed, and may be mathematically combined with prior measurements (e.g., averaging, FIR/IIR filtering, etc.), to mitigate the effects of noise.
  • the new RTT measurements may then be used in a reiteration of Blocks 1120 through 1125 to refine the processing time estimate ⁇ circumflex over ( ⁇ ) ⁇ ′ k associated with each WAP 311 k.
  • the process 1100 may then monitor the position of the mobile station 108 to determine whether its position has changed (B 1141 ). If so, the mobile station 108 may repeat the process 1100 starting looping back to Block 1110 . In this case, if new WAPs are discovered, the initial processing times may be computed as described above in Block 1115 . However, for WAPs that are in still in range which already have had refined processing times determined (assuming that they are different), the refined times for these WAPs may be used to improve the efficiency of the process 1100 . If it is determined in Block 1141 that the position of the mobile station 108 has not changed, the mobile station may monitor its position to detect changes in position (B 1142 ).
  • determining whether the mobile station 108 has changed position in Block 1141 may be accomplished using the motion sensor 212 , or some other form of position determination (e.g., AFLT, GPS, etc.) In these embodiments, the motion state of the mobile device may be monitored, and once motion is detected, the process resumes as described above.
  • the mobile station may monitor its position in Block 1142 by continuing to measure RTT to each WAP 311 k using the updated processing times (B 1145 ), and then determining its position (B 1150 ) based upon the updated. WAP processing time as described above.
  • the methodologies described herein may be implemented by various means depending upon the application. For example, these methodologies may be implemented in hardware, firmware, software, or any combination thereof.
  • the processing units may be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or a combination thereof.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • processors controllers, micro-controllers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or a combination thereof.
  • the methodologies may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein.
  • Any machine-readable medium tangibly embodying instructions may be used in implementing the methodologies described herein.
  • software codes may be stored in a memory and executed by a processor unit.
  • Memory may be implemented within the processor unit or external to the processor unit.
  • the term “memory” refers to any type of long term, short term, volatile, nonvolatile, or other memory and is not to be limited to any particular type of memory or number of memories, or type of media upon which memory is stored.
  • the functions may be stored as one or more instructions or code on a computer-readable medium. Examples include computer-readable media encoded with a data structure and computer-readable media encoded with a computer program. Computer-readable media includes physical computer storage media. A storage medium may be any available medium that can be accessed by a computer.
  • such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer; disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
  • a communication apparatus may include a transceiver having signals indicative of instructions and data.
  • the instructions and data are configured to cause one or more processors to implement the functions outlined in the claims. That is, the communication apparatus includes transmission media with signals indicative of information to perform disclosed functions. At a first time, the transmission media included in the communication apparatus may include a first portion of the information to perform the disclosed functions, while at a second time the transmission media included in the communication apparatus may include a second portion of the information to perform the disclosed functions.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
US12/622,289 2008-11-21 2009-11-19 Wireless position determination using adjusted round trip time measurements Abandoned US20100135178A1 (en)

Priority Applications (19)

Application Number Priority Date Filing Date Title
US12/622,289 US20100135178A1 (en) 2008-11-21 2009-11-19 Wireless position determination using adjusted round trip time measurements
EP14020043.7A EP2746802B1 (fr) 2008-11-21 2009-11-20 Détermination de position sans fil utilisant des mesures temporelles aller-retour ajustées
BRPI0921415A BRPI0921415A2 (pt) 2008-11-21 2009-11-20 determinação de posição sem fio utilizando medições de tempo de ida e volta ajustadas
ES12008413.2T ES2511190T3 (es) 2008-11-21 2009-11-20 Determinación de posición inalámbrica usando las mediciones ajustadas del tiempo de ida y vuelta
JP2011537651A JP2012509483A (ja) 2008-11-21 2009-11-20 調整されたラウンドトリップ時間測定を使用した無線位置決定
EP09760407A EP2368131B1 (fr) 2008-11-21 2009-11-20 Détermination sans fil d'une position à l'aide de mesures de temps de propagation en boucle ajustées
KR1020117014248A KR101340788B1 (ko) 2008-11-21 2009-11-20 조정된 라운드 트립 시간 측정치를 이용한 무선 위치 결정
EP12008413.2A EP2600165B1 (fr) 2008-11-21 2009-11-20 Détermination de position sans fil utilisant des mesures temporelles aller-retour ajustées
CN200980146844.4A CN102265174B (zh) 2008-11-21 2009-11-20 使用经调整的往返时间测量的无线位置确定
KR1020127025649A KR101312896B1 (ko) 2008-11-21 2009-11-20 조정된 라운드 트립 시간 측정치를 이용한 무선 위치 결정
PCT/US2009/065319 WO2010059934A2 (fr) 2008-11-21 2009-11-20 Détermination sans fil d’une position à l’aide de mesures de temps de propagation en boucle ajustées
EP12005330A EP2527861A3 (fr) 2008-11-21 2009-11-20 Détermination de position sans fil utilisant des mesures temporelles aller-retour ajustées
EP12005329A EP2527860A3 (fr) 2008-11-21 2009-11-20 Détermination de position sans fil utilisant des mesures temporelles aller-retour ajustées
TW102121564A TW201344230A (zh) 2008-11-21 2009-11-23 使用經調整往返時間測量的無線位置決定
TW098139792A TW201037344A (en) 2008-11-21 2009-11-23 Wireless position determination using adjusted round trip time measurements
JP2013047651A JP2013167630A (ja) 2008-11-21 2013-03-11 調整されたラウンドトリップ時間測定を使用した無線位置決定
US13/859,652 US9213082B2 (en) 2008-11-21 2013-04-09 Processing time determination for wireless position determination
US13/859,658 US20130237246A1 (en) 2008-11-21 2013-04-09 Wireless signal model updating using determined distances
JP2014019055A JP5976703B2 (ja) 2008-11-21 2014-02-04 調整されたラウンドトリップ時間測定を使用した無線位置決定

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US12/622,289 US20100135178A1 (en) 2008-11-21 2009-11-19 Wireless position determination using adjusted round trip time measurements

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US13/859,658 Abandoned US20130237246A1 (en) 2008-11-21 2013-04-09 Wireless signal model updating using determined distances
US13/859,652 Active US9213082B2 (en) 2008-11-21 2013-04-09 Processing time determination for wireless position determination

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US13/859,652 Active US9213082B2 (en) 2008-11-21 2013-04-09 Processing time determination for wireless position determination

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US (3) US20100135178A1 (fr)
EP (5) EP2527860A3 (fr)
JP (3) JP2012509483A (fr)
KR (2) KR101312896B1 (fr)
CN (1) CN102265174B (fr)
BR (1) BRPI0921415A2 (fr)
ES (1) ES2511190T3 (fr)
TW (2) TW201037344A (fr)
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