WO2011032015A1 - Concurrent wireless transmitter mapping and mobile station positioning - Google Patents
Concurrent wireless transmitter mapping and mobile station positioning Download PDFInfo
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- WO2011032015A1 WO2011032015A1 PCT/US2010/048495 US2010048495W WO2011032015A1 WO 2011032015 A1 WO2011032015 A1 WO 2011032015A1 US 2010048495 W US2010048495 W US 2010048495W WO 2011032015 A1 WO2011032015 A1 WO 2011032015A1
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- range measurements
- unknown positions
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- mobile stations
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Classifications
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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
- G01S5/0284—Relative positioning
- G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
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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
- G01S5/0205—Details
- G01S5/0242—Determining the position of transmitters to be subsequently used in positioning
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- 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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Definitions
- the subject matter disclosed herein relates to mapping wireless transmitters and mobile stations, and more particularly to concurrently determining locations for one or more mobile stations and one or more wireless transmitters.
- the position of a mobile station may be estimated based on information gathered from various systems.
- One such system may comprise a wireless network compatible with one or more of the Institute of Electrical and Electronics Engineers (IEEE) 802.1 1 wireless local access network (WLAN) standards, which may also be referred to as a Wi-Fi network.
- WLAN wireless local access network
- Such a network may include wireless transmitters/receivers often referred to as "access points," for example.
- a position estimate which may also be referred to as a position "fix" for a mobile station may be obtained based at least in part on distances or ranges measured from the mobile station to one or more wireless transmitters, and also based at least in part on knowledge of the locations of the one or more wireless transmitters. Accuracy or availability of mobile station positioning systems may depend, at least in part, on wireless access point mapping, wherein information related to wireless access points including estimated locations may be stored in a database.
- a plurality of range measurements from one or more mobile stations with unknown positions may be received at a computing platform, the plurality of range measurements comprising one or more range measurements to one or more wireless transmitters with unknown positions and one or more range measurements to one or more wireless transmitters with known positions. Locations for the one or more mobile stations with unknown positions and for the one or more wireless transmitters with unknown positions may be concurrently determined.
- FIG. 1 is an illustration depicting example mobile stations in communication with an example almanac server via one or more wireless communication networks.
- FIG. 2 is an illustration of an example process for concurrently estimating positions for one or more mobile stations and one or more wireless access points.
- FIG. 3 is a schematic diagram illustrating an example system for autonomous wireless access point mapping.
- FIG. 4 is a schematic diagram illustrating an example system for semi- autonomous wireless access point mapping.
- FIG. 5 is a schematic diagram illustrating an example system for multiuser wireless access point mapping.
- FIG. 6 is a flow diagram of an example process for concurrent wireless access point mapping and mobile station positioning.
- FIG. 7 is a schematic block diagram illustrating an example mirroring effect.
- FIG. 9 is a schematic block diagram of an example embodiment of a mobile station.
- FIG. 10 is a schematic block diagram depicting an example embodiment of a computing platform.
- a position of a mobile station may be estimated based on information gathered from various systems.
- Such systems may include wireless communication systems including, for example, cellular communication systems or wireless local area networks, to name just a couple of example types of wireless communication systems.
- Wireless communication systems may employ one or more wireless transmitters/receivers that may be referred to as “base stations” or “access points”, for example.
- base stations or “access points”, for example.
- the terms “base station” and “access point” represent example types of “wireless transmitters", although the scope of claimed subject matter is not limited in this respect.
- the term “wireless transmitter” is meant to include any transmitter or transmitter/receiver of wireless signals compatible with any type of wireless communication system.
- a position estimate which may also be referred to as a position "fix" for a mobile station may be obtained based at least in part on distances or ranges measured from the mobile station to one or more wireless transmitters, and also based at least in part on knowledge of the locations of the one or more wireless transmitters. Accuracy or availability of mobile station positioning systems may depend, at least in part, on wireless transmitter mapping, wherein information related to wireless transmitters including estimated locations may be stored in a database. In some applications, such as database may be referred to as an almanac. [0019] An almanac may be maintained for systems used for position estimation. The almanac may contain various types of information, including, for example, information that may be used in position estimation operations.
- Such information may include the identities and locations of various wireless transmitters of one or more wireless communication systems, for example.
- An almanac may be stored in a memory of a computing platform, such as an almanac server, for example, or in a memory of mobile station, for another example.
- an almanac may be transmitted from an almanac server to one or more mobile stations.
- WiFi access points within an interior of a building
- a survey may be made by physically examining the interior and noting locations of any discovered access points.
- difficulties may be encountered in determining accurate or complete information for WiFi APs by direct collection from the AP owners.
- Information collected in this manner may be erroneous, outdated, or missing.
- AP location data collection may pose a significant obstacle to the expansion of mobile station location operations for indoor areas.
- Fig. 1 is an illustration depicting example mobile stations 100 and 124 in communication with an example almanac server 150 via one or more wireless communication networks 132 and 134, or via Internet 140.
- mobile station 100 represents a multi-mode device that may support
- Fig. 1 further depicts a number of transmitter types 1 10 with which mobile stations 100 and 314 may communicate.
- Mobile stations 100 and 124 may or may not be subscribed to any given network associated with the various respective transmitter types to be able to monitor signals transmitted from the various transmitter types.
- Almanac server 150 may provide wireless transmitter almanac information to mobile stations 100 or 124.
- the example of Fig. 1 depicts two mobile stations, in practice a wide variety of mobile station types exhibiting a wide range of different functionalities or storage capabilities may be utilized to communicate with a large variety of potential network types. Further, mobile stations may exhibit a wide range of different usage patterns.
- wireless transmitter is meant to include any station or device utilized to transmit wireless signals.
- wireless transmitter is also meant to include any wireless communication station or device utilized to facilitate communication in a wireless communications system, such as, for example, a cellular network, although the scope of claimed subject matter is not limited in this respect.
- An example type of wireless transmitter utilized in a cellular network may be referred to as a base station.
- a wireless transmitter may comprise a femtocell, utilized to extend cellular telephone service into a business or home, for example.
- one or more mobile stations may communicate with a femtocell via a code division multiple access (CDMA) cellular communication protocol, for example, and the femtocell may provide the mobile station access to a larger cellular telecommunication network by way of another broadband network such as the Internet.
- wireless transmitters may be included in any of a range of electronic device types.
- a wireless transmitter may comprise a WLAN access point (AP), for example.
- AP wireless transmitter
- Such a WLAN may comprise a network that is compatible with one or more of the IEEE 802.1 1 x standards, in an aspect, although the scope of claimed subject matter is not limited in this respect.
- the use herein of the term "transmitter" in describing a device does not limit that device's function to transmitting only.
- base stations and access points are typically capable of both transmitting and receiving wireless signals.
- a mobile station refers to a device that may from time to time have a position that changes. Such changes in position may comprise changes to direction, distance, orientation, etc., as a few examples.
- a mobile station may comprise a cellular telephone, wireless communication device, user equipment, laptop computer, other personal communication system (PCS) device, personal digital assistant (PDA), personal audio device (PAD), portable navigational device, or other portable communication devices.
- PCS personal communication system
- PDA personal digital assistant
- PAD personal audio device
- portable navigational device or other portable communication devices.
- a mobile station may also comprise a processor or computing platform adapted to perform functions controlled by machine-readable instructions.
- FIG. 2 is an illustration of an example system for concurrently estimating positions for one or more mobile stations and one or more wireless transmitters.
- terrestrial wireless transmitters such as WiFi access points or cellular base stations may be mapped using measurements from mobile stations without additional measurements from other sources.
- example wireless transmitters may comprise WiFi APs, although the scope of claimed subject matter is not limited in this respect.
- anchor AP refers to an access point with a position that is known with sufficient accuracy to allow the access point be used in position estimation operations for access points or mobile stations whose positions are unknown or not known with a sufficient degree of accuracy for a given application.
- non-anchor AP refers to an access point that does not have a position known with sufficient accuracy for a given application to allow the access point be used in position estimation operations.
- an access point is merely an example type of wireless transmitter, and the scope of claimed subject matter is not limited in this respect.
- anchor and non-anchor are utilized in describing access points of various examples discussed herein, the terms may also be applied to other types of wireless transmitters.
- the term "known" as used herein in connection with a position of a mobile station or a position of a wireless transmitter refers to a position that has been measured or estimated with a level of accuracy sufficient for a given application. For example, for a pedestrian navigation application, positions estimated or measured to within several meters may be considered to be “known” positions, although the scope of claimed subject matter is not limited in this respect.
- the term "unknown” as used herein in connection with a position of a mobile station or a position of a wireless transmitter refers to a position that has not been measured or estimated at all or has not been measured or estimated with a level of accuracy sufficient for a given application.
- An example coordinate system may comprise a WGS84 coordinate system, although the scope of claimed subject matter is not limited in this respect.
- access points may be assumed to be static, and measurements from multiple mobile stations taken at multiple points in time may be aggregated. If significant disagreement is discovered among measurements related to a particular AP, a check may be made to determine whether that particular AP has been relocated, perhaps by physical examination.
- three or more non-collinear anchor APs may be utilized to estimate a position of a mobile station.
- three or more non-collinear measurements from one or more anchor mobile stations may be utilized to map an AP. Example techniques for performing such calculations are described in more detail, below.
- the plurality of seed locations may be utilized as estimated positions for the respective plurality of mobile stations or APs whose estimated positions are being determined.
- the plurality of seed locations may be updated based at least in part on the calculated difference between the plurality of range estimates and the plurality of range measurements.
- a plurality of range estimates may be re-calculated based at least in part on the plurality of updated seed locations, and a difference between the re-calculated plurality of range estimates and the plurality range
- the updated seed locations may be utilized as estimated locations for the respective plurality of mobile stations or non-anchor APs whose locations are to be estimated.
- a matrix of pseudorange measurements p ;j between mobile stations u t and access points s y may be given as follows in a non-linear equation:
- b t comprises a mobile specific measurement bias
- 5 y comprises a ranging source specific measurement bias
- a ;j is an un-modeled random measurement noise.
- b i and 5 y may represent time biases of receiver and transmitter if a range measurement is based on time measurements such as time of arrival (TOA), time difference of arrival (TDOA) or round trip time (RTT).
- biases may relate to received signal strength (RSS) measurements. Biases may be ignored in some circumstances if not significant compared to the random noise, in an aspect. Note that while example techniques described herein may describe access points as wireless
- K mobile locations which are from either a single mobile station in K locations at various points in time or K combined measurements from multiple mobile stations (i ⁇ ⁇ 1,2, ...,.£ ⁇ ).
- L anchor APs at known locations (j ⁇ ⁇ 1,2,..., L ⁇ )
- M non- anchor APs at unknown locations (j ⁇ ⁇ 1,2,..., ⁇ ).
- measurements related to anchor access points are denoted with a superscript with "A.”
- Previously given expression (1 ) may expand as follows:
- Target variable x represents K mobile locations and M non-anchor transmitters.
- a determination may be made as to whether the difference is below a specified error threshold.
- W comprises a weighting matrix
- G comprises a geometry matrix, described below.
- a weighting matrix solution may deviate from the above according at least in part to a given nature of measurements, in a further aspect.
- geometry matrix G may represent geometric relationships of a mobile station location and anchor and non-anchor APs.
- u t and s s represent most recent estimates for mobile station and non-anchor access point locations, respectively.
- the matrix may be reduced in size to remove one or more rows corresponding to the unobserved access points.
- a reverse geometry matrix for i th mobile location may represent a geometric relationship of a mobile station location with non-anchor access point locations, and may be given as follows. 2
- an upper portion may be occupied by zeros since there are no direct measurements between anchor and non-anchor APs, for example as depicted in Fig. 2.
- a lower portion of R ⁇ may take a diagonal form where individual diagonal components comprise a 1 by 3 vector.
- Rows of R ⁇ and F ⁇ may be sorted according to originating mobile station location.
- R ⁇ and F ⁇ may be re-organized to be F. and R . specific to f h access point.
- x may be estimated incrementally using a Newton- Raphson technique - an iterative linear solution - as described above and as repeated here.
- KF Kalman filter
- KF may be utilized solely for mobile station position estimation.
- a mobile station trajectory resulting from a KF solution may be further processed by a least squares operation to remove mobile station location variables entirely if the KF estimation has an error value within a threshold of error appropriate for a given application or to be used as seed locations if the KF estimation error value is not within the error threshold.
- a mobile station's inertial sensors may provide information that may improve location estimation accuracy or speed. It may be noted that existing location estimation solutions such as GPS implementations may be updated with example implementations without significantly re- architecting a mobile station so long as sufficient memory space and processing power is available.
- a measurement covariance matrix may represent an expected level of errors in range measurements between i mobile station location and j access point.
- a measurement covariance matrix may be given as follows, »
- o . y) comprises a variance measurement error of p j and .
- J)A comprises a covariance between p i ⁇ and p Kl .
- 3 ⁇ 4 m may be set to zero unless there is known correlation between two range measurements.
- a measurement variance may comprise uncertainty from measurement as well as uncertainty of mobile station position and access point location.
- An expression for a variance of measurement error may be given as
- uncertainty of variables to be estimated may be dropped from the variance of measurement error expression, and variances for remaining values may be kept in the expression.
- ⁇ and crl may comprise elements of an estimation covariance matrix ⁇ x , which may represent an uncertainty in estimated variables.
- GDOP geometry dilution of position
- an example process for covariance updating may comprise:
- Measurement uncertainty may be derived from signal to noise ratio or signal to interference ratio, to name a couple examples, as well as any other error sources.
- a specified uncertainty threshold may comprise a threshold of one meter, although the scope of claimed subject matter is not limited in this respect.
- a geometry matrix such as that described above may be built on a directional vector between a mobile station position and a wireless transmitter location.
- SPS S-PS
- a mobile station and a wireless transmitter may be in close proximity on some occasions.
- WiFi mobile station positioning operations a mobile station may come in close proximity to an access point at times. If a distance between a mobile station and a wireless transmitter becomes very small, instability may be introduced into a numerical solution. To avoid such instability, any of a number of example measures may be employed:
- Seed locations may be set sufficiently distant from one another. A distance of greater than one meter may be specified, in an aspect.
- individual location estimation variables may be set to be sufficiently distant from one another.
- an artificial distance may be injected between the range measurement and range estimate by moving a mobile station location in a direction opposite that of a corresponding wireless transmitter.
- mobile station positions and wireless transmitter locations may be utilized to avoid over influence from an individual measurement.
- a solution size may grow large enough to exceed available computing resources.
- an example process employing stages a-g for limiting an amount of mobile stations or wireless transmitters may be performed, as follows:
- stages d) through f) described above may precede stages a) through c).
- examples in accordance with claimed subject matter may comprise more than, less than, or all of stages a) through g).
- the order of stages a) through g) is merely an example order, and claimed subject matter is not limited in this respect.
- Range measurements between mobile stations and wireless transmitters are mentioned. Range measurements described herein may comprise or may be based at least in part on any of a variety of measurement types, including, for example, time of arrival (TOA), time difference of arrival (TDOA), round trip time (RTT), or received signal strength indicator (RSSI). As mentioned previously, bias terms specific to individual measurement types may be introduced into estimation solutions. Further, example techniques described herein may include various types of wireless transmitters. See, for example, Fig. 1 , wherein example transmitter types 1 10 are depicted. Wireless transmitter types may include, for example, WiFi APs, cellular base-stations, cellular femtocell/picocell stations, broadcast television or radio stations, or SPS.
- SPS or television/radio broadcast stations may comprise example anchor transmitters, with known or estimated locations. Additionally, for situations where direct position estimates are available from a positioning system such as a SPS, one or more mobile station variables may be removed from a position estimation equation to reduce a number of variables. In another aspect, a position estimate provided by a SPS may be added as a measurement to an example estimation process such as described above with appropriate weighting. It should be noted that the measurement types and wireless transmitter types mentioned above are merely examples, and the scope of claimed subject matter is not limited in these respects.
- positions for mobile stations or locations of non-anchor wireless transmitters may be estimated using example techniques described herein if sufficient measurements are available.
- an unknown mobile station position or wireless transmitter location may be associated with three or more variables, including a location in a two dimensional coordinate system and a range bias.
- example concurrent estimation techniques may allow for three or more measurements associated with individual unknown mobile station positions or wireless transmitter locations.
- An overall amount of variables may be expressed as 3(K+M), and a maximum amount of
- sufficiency test relationships described above may be utilized for example concurrent mobile station position and wireless transmitter location estimation techniques involving range measurements between mobile stations and wireless transmitters
- exceptions to the sufficiency considerations mentioned above may occur for situations where mobile station or wireless transmitters support point positioning rather than ranging measurements.
- a mobile station receives a signal from an AP with sufficiently high RSSI measurement, it may be assumed that the mobile station is in relative close proximity to the AP, and the AP location may be used as an approximate position of the mobile station. If an uncertainty associated with the approximate position is low enough, measurements from the AP location may be utilized in concurrent mobile station position and wireless transmitter location estimation techniques without introducing the mobile station position as an unknown variable to more easily meet the sufficiency test relationships described above.
- a large concurrent mobile station position and wireless transmitter location estimation operation may be partitioned into smaller subset solutions so long as individual subset solutions contain sufficient amounts of measurements. Utilizing results from the subset solutions, the original large concurrent mobile station position and wireless transmitter location estimation operation may be calculated more efficiently.
- FIG. 3 is a schematic diagram illustrating an example system for wireless transmitter point mapping.
- an SPS 310 may comprise a number of space vehicles (SV).
- SPS 310 may comprise one or more satellite positioning systems, such as GPS, GLONASS and Galileo, although the scope of claimed subject matter is not limited in this respect.
- Wireless transmitter 320 may comprise a WiFi access point, although again, the scope of claimed subject matter is not so limited.
- a mobile station 330 may receive wireless signals from wireless transmitter 330, and may further communicate with a terrestrial source mapping server 340.
- Server 340 may collect measurement information related to terrestrial wireless transmitters from one or more mobile stations, and may store information related to terrestrial wireless transmitters, such as wireless transmitter 320, in a terrestrial source database 350.
- wireless transmitter 320 may comprise a non-anchor transmitter whose location is to be determined.
- Mobile station 330 may determine a location for wireless transmitter 320 with or without assistance from a terrestrial source mapping server 340, in an aspect.
- mobile station 330 may receive signals from wireless transmitter 320 at various points in time.
- mobile station 330 may take measurements from signals received from wireless transmitter 320 at three individual points in time, labeled t1 , t2, and t3.
- mobile station 330 may further receive wireless signals from SPS 310.
- the SVs of SPS 310 may comprise anchor wireless transmitters, and measurements taken from wireless signals received from SPS 310 may provide measurements enabling concurrent estimates of positions for mobile station 330 at points in time t1 , t2, and t3 and a location for wireless transmitter 320.
- the concurrent estimation may be accomplished by mobile station 330 without assistance from terrestrial wireless server 340.
- mobile station 430 may utilize a concurrent mobile station position and wireless transmitter location estimation process such as an example process described above to map non-anchor wireless transmitter 420.
- mobile station 430 may take measurements from signals received from wireless transmitters 420, 412, 414, or 416 at three individual points in time, labeled t1 , t2, and t3. Measurements taken by mobile station 430 may be utilized in a least squares solution such as example least squares operations described above to estimate positions for mobile station 430 at points in time t1 , t2, and t3, and to estimate a location for wireless transmitter 420.
- FIG. 5 is a schematic diagram illustrating an example system for multiuser mapping.
- a server may collect range measurement information from multiple mobile stations to estimate mobile station positions and to map wireless transmitters. Because terrestrial wireless transmitters tend to be stationary, a server may aggregate
- a mobile station 520 may receive wireless signals from wireless transmitters 510, 512, and 514 at points in time t1 and t2, and may take range measurements based at least in part on the received wireless signals.
- wireless transmitter 510 may comprise an anchor access point
- wireless transmitters 512 and 514 may comprise non-anchor access points.
- a mobile station 530 may receive wireless signals from wireless transmitters 514, 516, and 518 at points in time t3, t4, and t5, and may take range measurements based at least in part on the received wireless signals.
- wireless transmitter 514 may comprise a non- anchor access point.
- Wireless transmitters 516 and 518 may comprise anchor access points, for an example.
- Mobile stations 520 and 530 may provide measurement information related to signals received from wireless transmitters 510, 512, 514, 516, and 518 to a terrestrial source mapping server 540, and the information may be stored in a terrestrial source database 550.
- terrestrial source mapping server 540 may utilize a concurrent mobile station position and wireless transmitter location estimation process such as an example process described above to map non-anchor wireless transmitters 512 and 514, to estimate positions for mobile station 520 at points t1 and t2, and to estimate positions for mobile station 530 at points in time t3, t4, and t5, provided sufficient range measurements are available.
- measurements may be stored in database 550 for future estimation operations that may be conducted at least in part in response to additional measurements becoming available.
- server 540 may collect range measurement information from multiple mobile stations, and may store the range measurement information in database 550.
- Server 540 may further perform concurrent estimations of mobile station positions and wireless transmitter locations, and may communicate at least some estimated locations to one or more mobile stations.
- Estimated mobile station positions or wireless transmitter locations may further be stored in database 550, in an aspect.
- FIG. 6 is a flow diagram of an example process for concurrent wireless access point mapping and mobile station positioning. At block 610, a plurality of range measurements may be received from one or more mobile stations without substantially known positions.
- the plurality of range measurements may comprise one or more range measurements to one or more wireless transmitters without substantially known positions and one or more range measurements to one or more wireless transmitters with substantially known positions.
- locations for the one or more mobile stations and for the one or more wireless transmitters without substantially known positions may be concurrently determined. Examples in accordance with claimed subject matter may comprise all of blocks 610 and 620, less than blocks 610 and 620, or more than blocks 610 and 620. Similarly, the order of blocks 610 and 620 is merely an example order.
- Fig. 8 is a schematic block diagram illustrating an example process for mirror effect detection by multi-seeded positioning.
- multiple seed positions may be tried, and various position fixes based on tried seed positions may be compared.
- a first position fix may be generated based at least in part on a first seed position 810.
- a mirror point of the first position fix 820 may be generated, and the mirror point may be utilized as a second seed position 840.
- a second position fix 850 may be determined based at least in part on second seed position 840.
- first position fix 820 and second position fix 850 may be compared to determine a correct position fix, or to declare a mirror effect.
- mirrored position fixes may be stored in a database so that the position fixes may be revisited if additional range measurements become available.
- Fig. 9 is a schematic block diagram of an example implementation of mobile station 100.
- mobile station 100 comprises an SPS receiver 910 and a wireless communication transceiver 920.
- mobile station 100 may communicate with one or more SPS such as SPS 310 and one or more terrestrial wireless networks, such as a WiFi network, in an aspect.
- mobile station 100 may further comprise a memory device that is partitioned, in one example, to store position fix information in fix database memory 930, to store transmitter information in a transmitter database memory 950, and to store base station almanac information in a base station almanac storage area 940.
- mobile station 100 may comprise one or more sensors that for this example are incorporated into Inertial Measurement Unit (IMU) 970 that may be utilized in dead-reckoning navigation operations, for example.
- IMU Inertial Measurement Unit
- Example sensors that may be incorporated into IMU 970 or elsewhere in mobile station 100 may include one or more of an accelerometer, a gyroscope, a compass, thermometer, or a magnetometer, for example.
- Mobile station 100 further comprises processor 960, for this example.
- processor 960 for this example.
- this is merely one example of a configuration of a mobile station, and the scope of claimed subject matter is not limited in this respect.
- location information for wireless transmitters may comprise longitude and latitude, and may for another example also comprise altitude information.
- FIG. 10 is a schematic diagram illustrating an example computing and communications environment 1000 that may include one or more devices configurable to implement techniques or processes described above, for example, in connection with example techniques for concurrent wireless transmitter mapping and mobile station positioning, depicted in Figs. 1 -8.
- System 1000 may include, for example, a first device 1002, a second device 1004, and a third device 1006, which may be operatively coupled together through a network 1008.
- First device 1002, second device 1004 and third device 1006, as shown in Fig. 10, may be representative of any device, appliance or machine that may be configurable to exchange data over wireless communications network 1008.
- any of first device 1002, second device 1004, or third device 1006 may include: one or more computing devices or platforms, such as, e.g., a desktop computer, a laptop computer, a workstation, a server device, or the like; one or more personal computing or communication devices or appliances, such as, e.g., a personal digital assistant, mobile communication device, or the like; a computing system or associated service provider capability, such as, e.g., a database or data storage service provider/system, a network service provider/system, an Internet or intranet service provider/system, a portal or search engine service
- any of the first, second, and third devices 1002, 1004, or 1006, respectively, may comprise one or more of an almanac server, an access point, or a mobile station in accordance with the examples described herein.
- network 1008, as shown in Fig. 10, is representative of one or more communication links, processes, or resources configurable to support the exchange of data between at least two of first device 1002, second device 1004, and third device 1006.
- network 1008 may include wireless or wired communication links, telephone or telecommunications systems, data buses or channels, optical fibers, terrestrial or space vehicle resources, local area networks, wide area networks, intranets, the Internet, routers or switches, and the like, or any combination thereof. As illustrated, for example, by the dashed lined box illustrated as being partially obscured of third device 1006, there may be additional like devices operatively coupled to network 1008.
- Processing unit 1020 is representative of one or more circuits configurable to perform at least a portion of a data computing procedure or process.
- processing unit 1020 may include one or more processors, controllers, microprocessors, microcontrollers, application specific integrated circuits, digital signal processors, programmable logic devices, field programmable gate arrays, and the like, or any combination thereof.
- Memory 1022 is representative of any data storage mechanism.
- Secondary memory 1026 may include, for example, the same or similar type of memory as primary memory or one or more data storage devices or systems, such as, for example, a disk drive, an optical disc drive, a tape drive, a solid state memory drive, etc.
- secondary memory 1026 may be operatively receptive of, or otherwise configurable to couple to, a computer-readable medium 1040.
- Computer-readable medium 1040 may include, for example, any medium that can carry or make accessible data, code or instructions for one or more of the devices in system 1000.
- Computer readable medium 1040 may also be referred to as a storage medium.
- Second device 1004 may include, for example, a communication interface 1030 that provides for or otherwise supports the operative coupling of second device 1004 to at least network 1008.
- communication interface 1030 may include a network interface device or card, a modem, a router, a switch, a transceiver, and the like.
- Second device 1004 may include, for example, an input/output 1032.
- Input/output 1032 is representative of one or more devices or features that may be configurable to accept or otherwise introduce human or machine inputs, or one or more devices or features that may be configurable to deliver or otherwise provide for human or machine outputs.
- input/output device 1032 may include an operatively configured display, speaker, keyboard, mouse, trackball, touch screen, data port, etc.
- a processing unit 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 devices units designed to perform the functions described herein, or combinations 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 devices units designed to perform the functions described herein, or combinations thereof.
- Instructions relate to expressions which represent one or more logical operations.
- instructions may be "machine-readable” by being interpretable by a machine for executing one or more operations on one or more data objects.
- instructions as referred to herein may relate to encoded commands which are executable by a processing circuit having a command set which includes the encoded commands.
- Such an instruction may be encoded in the form of a machine language understood by the processing circuit. Again, these are merely examples of an instruction and claimed subject matter is not limited in this respect.
- Storage medium as referred to herein relates to media capable of maintaining expressions which are perceivable by one or more machines.
- a storage medium may comprise one or more storage devices for storing machine-readable instructions or information.
- Such storage devices may comprise any one of several media types including, for example, magnetic, optical or semiconductor storage media.
- Such storage devices may also comprise any type of long term, short term, volatile or non-volatile memory devices.
- these are merely examples of a storage medium, and claimed subject matter is not limited in these respects.
- such quantities may take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared or otherwise manipulated. It has proven convenient at times, principally for reasons of common usage, to refer to such signals as bits, data, values, elements, symbols, characters, terms, numbers, numerals, or the like. It should be understood, however, that all of these or similar terms are to be associated with appropriate physical quantities and are merely convenient labels. Unless specifically stated otherwise, as apparent from the discussion herein, it is appreciated that throughout this specification discussions utilizing terms such as “processing,” “computing,” “calculating,” “determining” or the like refer to actions or processes of a specific apparatus, such as a special purpose computer or a similar special purpose electronic computing device.
- a special purpose computer or a similar special purpose electronic computing device is capable of manipulating or transforming signals, typically represented as physical electronic or magnetic quantities within memories, registers, or other information storage devices, transmission devices, or display devices of the special purpose computer or similar special purpose electronic computing device.
- Wireless communication techniques described herein may be in connection with various wireless communication networks such as a wireless wide area network (WWAN), a wireless local area network (WLAN), a wireless personal area network (WPAN), and so on.
- WWAN wireless wide area network
- WLAN wireless local area network
- WPAN wireless personal area network
- 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 comprise an IEEE 802.1 1 x network
- a WPAN may comprise a Bluetooth network, an IEEE 802.15x, for example.
- Wireless communication implementations described herein may also be used in connection with any combination of WWAN, WLAN or WPAN. Further, wireless communications described herein may comprise wireless communications performed in compliance with a 4G wireless communication protocol.
- Examples described herein may include machines, devices, engines, or apparatuses that operate using digital signals.
- Such signals may comprise electronic signals, optical signals, electromagnetic signals, or any form of energy that provides information between locations.
Abstract
Description
Claims
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KR1020127009164A KR101457279B1 (en) | 2009-09-10 | 2010-09-10 | Concurrent wireless transmitter mapping and mobile station positioning |
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- 2010-09-10 WO PCT/US2010/048495 patent/WO2011032015A1/en active Application Filing
- 2010-09-10 KR KR1020127009164A patent/KR101457279B1/en not_active IP Right Cessation
- 2010-09-10 EP EP10761083A patent/EP2476012A1/en not_active Withdrawn
- 2010-09-10 JP JP2012528939A patent/JP5778154B2/en not_active Expired - Fee Related
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Also Published As
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CN102597799A (en) | 2012-07-18 |
JP2013504760A (en) | 2013-02-07 |
JP5778154B2 (en) | 2015-09-16 |
EP2476012A1 (en) | 2012-07-18 |
CN102597799B (en) | 2016-08-03 |
KR20120053074A (en) | 2012-05-24 |
US20110059752A1 (en) | 2011-03-10 |
US8688139B2 (en) | 2014-04-01 |
KR101457279B1 (en) | 2014-10-31 |
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