| 摘要 |
A method for determining the location coordinates (x, y, z) of a mobile terminal (MS) with respect to reference elements (SRB1,......, SRBn; Sat1, . , Satm) adapted to send towards said mobile terminal (MS) radioelectric signals involves the steps of measuring the radioelectric signals to derive respective measurements (<k),said measurements (?k) being affected by measurement errors, and subjections the measurements (?k) to state-based statistical filtering (xk+1, yk+1, zk+1), such as a kalman filtering, to derive therefrom the location coordinates of the mobile terminal. At least some of the reference elements are terrestrial reference elements (SRB1, ...... , SRBn) and in the statistical filtering at least one further state (tk) is included in addiction to the coordinates. The further state (tk) is representative of the measurement errors. The terminal is adapted to be mounted on a vehicle such as a motorcar and to have associated therewith measurement source such as an altimeter adapted to provide additional measurements indicative of the location (e.g. the altitude) and/or the displacement of the mobile terminal (MS). |
