Positioning in Indoor Locations and Other GPS-Denied Environments

摘要

Methods for: (1) extracting Doppler/velocity measurements; (2) estimating relative clock bias errors; (3) determining range and velocity estimates with associated confidences; and (4) extracting range estimates using channel estimation are disclosed. These methods can be used separately or combined to improve positioning solutions obtained by positioning systems used in indoor locations and other GPS-denied environments.

主权项

1. A method, comprising:
receiving at least one of range or velocity measurements over time; generating multiple potential range, velocity, and acceleration estimates based on the received measurements; determining probabilities of the estimates; testing estimates based on their weight and decaying importance history; pruning estimates that fail to meet a threshold; generating a new estimate for the pruned estimates; clustering potential solutions based on a density of the estimates; and associating a confidence solution to the potential solutions.