Pairwise measurements for improved position determination

摘要

Approaches for enhancing range-based position determination using pairwise error detection and compensation are provided. One method for enhancing a position estimate of a first node may include performing measurements at the first node using a signal received from a second node, and receiving measurements from the second node. The received measurements may be performed at the second node using a signal provided by the first node. The method may further include determining pairwise comparisons of the performed measurements and the received measurements, and compensating the measurements performed at the first node, based on the pairwise comparisons, for estimating the position of the first node. Systems and apparatuses for performing the various position determination methods are further presented.

主权项

1. A method for enhancing a position estimate of a first node, comprising:
performing, at the first node, a first range measurement of a distance between the first node and a second node using a signal received from the second node; receiving, from the second node, a result of a second range measurement of the distance between the first node and the second node based on a signal received from the first node at the second node; determining a pairwise comparison by comparing the first range measurement to the result of the second range measurement; determining a bias based on the pairwise comparison; and generating a compensation estimate for compensating subsequent range measurements performed at the first node, based on the bias.