CA2439880A1 - Method and apparatus providing improved position estimate based on an initial coarse position estimate - Google Patents
Method and apparatus providing improved position estimate based on an initial coarse position estimate Download PDFInfo
- Publication number
- CA2439880A1 CA2439880A1 CA002439880A CA2439880A CA2439880A1 CA 2439880 A1 CA2439880 A1 CA 2439880A1 CA 002439880 A CA002439880 A CA 002439880A CA 2439880 A CA2439880 A CA 2439880A CA 2439880 A1 CA2439880 A1 CA 2439880A1
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- Prior art keywords
- transmitters
- revised
- estimates
- estimate
- initial
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Classifications
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
- G01S19/06—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data employing an initial estimate of the location of the receiver as aiding data or in generating aiding data
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
Abstract
Techniques for determining the location of a device based on an initial coarse position estimate for the device, which is derived based on initial (less accurate) estimates of the position of a plurality of transmitters. In one method, the coarse position estimate for the device and revised (more accurate) position estimates for the transmitters are received. A revised position estimate for the device is initialized (e.g., to the coarse position estimate). An update vector is next computed based on the initial and revised position estimates for the device and the initial and revised position estimates for the transmitters. The revised position estimate for the device is then updated based on the update vector. The computation for the update vector and the updating of the revised position estimate for the device can be repeated a number of times to achieve a more and more accurate estimate.
Claims (20)
1. A method for determining the location of a device, comprising:
(a) receiving an estimate of the location of the device, the estimate having been calculated using initial estimates of the position of a plurality of transmitters;
(b) calculating a set of range estimates using a revised estimate of the position of the device and revised estimates of the positions of the transmitters;
(c) deriving an intermediate position estimate for the device based on the set of measurements and the initial position estimates for the transmitters;
(d) computing an update vector based in part on the intermediate and revised position estimates for the device; and (e) updating the revised position estimate for the device based on the update vector.
(a) receiving an estimate of the location of the device, the estimate having been calculated using initial estimates of the position of a plurality of transmitters;
(b) calculating a set of range estimates using a revised estimate of the position of the device and revised estimates of the positions of the transmitters;
(c) deriving an intermediate position estimate for the device based on the set of measurements and the initial position estimates for the transmitters;
(d) computing an update vector based in part on the intermediate and revised position estimates for the device; and (e) updating the revised position estimate for the device based on the update vector.
2. The method of claim 1, further comprising:
repeating the calculating, deriving, computing, and updating a plurality of times.
repeating the calculating, deriving, computing, and updating a plurality of times.
3. The method of claim 2, wherein the calculating, deriving, computing, and updating are repeated until the magnitude of the update vector is within a particular threshold.
4. The method of claim 1, further comprising:
(a) initializing the revised position estimate for the device to the coarse position estimate.
(a) initializing the revised position estimate for the device to the coarse position estimate.
5. The method of claim 1, wherein the transmitters are satellites in a Global Positioning Satellite (GPS) system.
6. The method of claim 5, wherein the initial position estimates for the satellites are based on an Almanac.
7. The method of claim 5, wherein the revised position estimates for the satellites are based on an Ephemeris.
8. The method of claim 1, wherein the revised position estimates for the transmitters are determined based on the time at which signals from the transmitters, which were used to derive the coarse position estimate for the device, were measured at the device.
9. The method of claim 1, wherein the intermediate position estimate for the device is derived based on a least mean square (LMS) computation.
10. The method of claim 1, further comprising:
(a) determining a first geometry matrix based on the initial position estimates for the transmitters and the intermediate position estimate for the device; and (b) determining a second geometry matrix based on the revised position estimates for the transmitters and the revised position estimate for the device, and (c) wherein the update vector is further based on the first and second geometry matrices.
(a) determining a first geometry matrix based on the initial position estimates for the transmitters and the intermediate position estimate for the device; and (b) determining a second geometry matrix based on the revised position estimates for the transmitters and the revised position estimate for the device, and (c) wherein the update vector is further based on the first and second geometry matrices.
11. The method of claim 1, wherein the coarse and revised position estimates for the device are derived based on four measurements for four transmitters.
12. The method of claim 11, wherein the measurements correspond to pseudo-ranges indicative of distances between the device and the transmitters.
13. The method of claim 1, wherein the coarse and revised position estimates for the device are derived based on five or more measurements for five or more transmitters.
14. The method of claim 13, wherein derivation of position estimate for the device is based on the five or more measurements to account for uncertainty in the time at which the measurements were made at the device.
15. A method for determining the location of a device, comprising:
(a) receiving a coarse position estimate for the device derived based in part on initial estimates of the position of a plurality of transmitters;
(b) receiving revised position estimates for the transmitters;
(c) initializing a revised position estimate for the device;
(d) computing an update vector based on the initial and revised position estimates for the device and the initial and revised position estimates for the transmitters;
(e) updating the revised position estimate for the device based on the update vector; and (f ) repeating the computing and updating a plurality of times.
(a) receiving a coarse position estimate for the device derived based in part on initial estimates of the position of a plurality of transmitters;
(b) receiving revised position estimates for the transmitters;
(c) initializing a revised position estimate for the device;
(d) computing an update vector based on the initial and revised position estimates for the device and the initial and revised position estimates for the transmitters;
(e) updating the revised position estimate for the device based on the update vector; and (f ) repeating the computing and updating a plurality of times.
6. A computer program product for determining the location of a device, comprising:
(a) code for receiving a coarse position estimate for the device derived based in part on initial estimates of the position of a plurality of transmitters;
(b) code for receiving revised position estimates for the transmitters;
(c) code for initializing a revised position estimate for the device;
(d) code for computing an update vector based on the initial and revised position estimates for the device and the initial and revised position estimates for the transmitters;
(e) code for updating the revised position estimate for the device based on the update vector;
(f ) code for repeating the computing and updating a plurality of times, and (g) a data storage medium configured to store the codes.
(a) code for receiving a coarse position estimate for the device derived based in part on initial estimates of the position of a plurality of transmitters;
(b) code for receiving revised position estimates for the transmitters;
(c) code for initializing a revised position estimate for the device;
(d) code for computing an update vector based on the initial and revised position estimates for the device and the initial and revised position estimates for the transmitters;
(e) code for updating the revised position estimate for the device based on the update vector;
(f ) code for repeating the computing and updating a plurality of times, and (g) a data storage medium configured to store the codes.
7. A position identifying device comprising:
(a) a communication port configured to receive a coarse position estimate for a receiver device derived based in part on initial estimates of the position of a plurality of transmitters; and (b) a processor operatively coupled to the communication port and configured to:
(i) receive information indicative of revised position estimates for the transmitters, (ii) initialize a revised position estimate for the receiver device, (iii) compute an update vector based on the initial and revised position estimates for the receiver device and the initial and revised position estimates for the transmitters, (iv) update the revised position estimate for the receiver device based on the update vector, and (v) repeat the compute and update a plurality of times.
(a) a communication port configured to receive a coarse position estimate for a receiver device derived based in part on initial estimates of the position of a plurality of transmitters; and (b) a processor operatively coupled to the communication port and configured to:
(i) receive information indicative of revised position estimates for the transmitters, (ii) initialize a revised position estimate for the receiver device, (iii) compute an update vector based on the initial and revised position estimates for the receiver device and the initial and revised position estimates for the transmitters, (iv) update the revised position estimate for the receiver device based on the update vector, and (v) repeat the compute and update a plurality of times.
18. The position identifying device of claim 17, wherein to compute the update vector, the processor is further configured to:
(a) calculate a set of measurements based on the revised position estimate for the receiver device and the revised position estimates for the transmitters, (b) derive an intermediate position estimate for the receiver device based on the set of measurements and the initial position estimates for the transmitters, and (c) calculate the update vector based at least in part on the intermediate and revised position estimates for the receiver device.
(a) calculate a set of measurements based on the revised position estimate for the receiver device and the revised position estimates for the transmitters, (b) derive an intermediate position estimate for the receiver device based on the set of measurements and the initial position estimates for the transmitters, and (c) calculate the update vector based at least in part on the intermediate and revised position estimates for the receiver device.
19. The position identifying device of claim 17, further comprising:
(a) a memory operatively coupled to the processor and configured to store a plurality of sets of information indicative of position estimates for the transmitters at a plurality of time instances, and wherein the revised position estimates for the transmitters are derived from one of the sets of information.
(a) a memory operatively coupled to the processor and configured to store a plurality of sets of information indicative of position estimates for the transmitters at a plurality of time instances, and wherein the revised position estimates for the transmitters are derived from one of the sets of information.
20. The position identifying device of claim 17, wherein the communication port is further configured to receive information indicative of a particular time at which signals from the transmitters were measured and used to derive the coarse position estimate for the receiver device.
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US27357001P | 2001-03-05 | 2001-03-05 | |
US60/273,570 | 2001-03-05 | ||
US09/878,934 US6570530B2 (en) | 2001-03-05 | 2001-06-11 | Method and apparatus providing improved position estimate based on an initial coarse position estimate |
US09/878,934 | 2001-06-11 | ||
PCT/US2002/006213 WO2002071095A2 (en) | 2001-03-05 | 2002-03-01 | Method and apparatus providing improved position estimate based on an initial coarse position estimate |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2439880A1 true CA2439880A1 (en) | 2002-09-12 |
CA2439880C CA2439880C (en) | 2012-01-24 |
Family
ID=26956300
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA2439880A Expired - Fee Related CA2439880C (en) | 2001-03-05 | 2002-03-01 | Method and apparatus providing improved position estimate based on an initial coarse position estimate |
Country Status (11)
Country | Link |
---|---|
US (1) | US6570530B2 (en) |
EP (2) | EP2259087B1 (en) |
JP (1) | JP4119256B2 (en) |
KR (2) | KR100924937B1 (en) |
CN (2) | CN100403054C (en) |
AT (2) | ATE547723T1 (en) |
BR (1) | BR0207903A (en) |
CA (1) | CA2439880C (en) |
IL (3) | IL157438A0 (en) |
MX (1) | MXPA03008016A (en) |
WO (1) | WO2002071095A2 (en) |
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KR100941342B1 (en) | 2010-02-11 |
CA2439880C (en) | 2012-01-24 |
BR0207903A (en) | 2004-10-19 |
KR20090033918A (en) | 2009-04-06 |
CN101311745B (en) | 2012-10-03 |
WO2002071095A2 (en) | 2002-09-12 |
EP2259087B1 (en) | 2012-02-29 |
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