Positioning technique
View Patent ↗A target device's location in a radio network is estimated by maintaining a probabilistic model for several sample points that indicate expected distributions of signal values at a given location. The target device observes signal values, wherein the sequence of observations and the respective locations constitute a Hidden Markov Model. A graph models the topology of the positioning environment. The graph indicates several nodes which are permissible locations in the environment and several arcs which are permissible transitions between two nodes. The graph is used to estimate the target device's location based on the probabilistic model and the sequence of observations.
1. A method for estimating a target device's location in a wireless communication environment, the method comprising:
maintaining a probabilistic model for a plurality of sample points, each sample point comprising a sample location and an expected distribution of signal values at that sample point;
making a sequence of observations of signal values wherein each observation corresponds to a respective location along the target device's path, wherein the sequence of observations and the respective locations constitute a Hidden Markov Model;
forming a graph that models the topology of the wireless communication environment, wherein the graph indicates:
a set of nodes, each node indicating a permissible location in the wireless communication environment;
a set of arcs, each arc indicating a permissible target device transition between two nodes; and
using the graph to estimate the target device's location based on the probabilistic model and the sequence of observations.
2. A method according to claim 1 , wherein the step of using the graph comprises estimating the target device's location and interpreting the estimated location as a point of the arc closest to the estimated location.
3. A method according to claim 2 , further comprising interpreting the target device's estimated location as the node closest to the estimated location.
4. A method according to claim 1 , wherein the step of using the graph comprises estimating the target device's location as a subset of graph points or nodes, associating a probability to each point or node in the subset and interpreting the estimated location as probability-weighted combination of the subset of points or nodes.
5. A method according to claim 1 , wherein each arc indicates a permissible target device transition between two nodes in a period of time that fits between two observations.
6. A method according to claim 1 , further comprising using the nodes as the sample points of the probabilistic model.
7. A method according to claim 1 , wherein the step of forming the graph comprises the following acts performed by a programmed computer:
receiving coordinates of operator-indicated nodes and arcs from an operator; and
detecting arcs whose length exceeds a predetermined maximum distance that is based on a typical target device speed and a typical period of time between observations, and dividing such arcs with additional nodes.
8. A method according to claim 7 , further comprising placing the sample points of the probabilistic model at the nodes of the graph, and:
determining at least some of the sample points at operator-indicated nodes based on calibration and/or a propagation model; and
determining at least some sample points at the additional nodes by interpolation from the operator-indicated nodes.
9. A method according to claim 1 , further comprising determining transition probabilities between the nodes.
10. A method according to claim 9 , wherein the transition probabilities are based on a typical target device speed and a typical period of time between observations.
11. A method according to claim 1 , further comprising forming an optimal path of nodes from the target device's detected node to its desired node.
12. A method according to claim 10 , further comprising displaying the optimal path superimposed with an underlying map or floor plan.
13. A method according to claim 11 , further comprising displaying the optimal path in parts in response to the target device's detected location.
14. A method according to claim 1 , further comprising estimating the target device's location based on one or more recursions of the sequence of observations.
15. A method according to claim 14 , wherein the one or more recursions comprise a forward recursion and a backward recursion.
16. A location estimation module for estimating a target device's location in a wireless communication environment, the location estimation module comprising:
a probabilistic model for a plurality of sample points, each sample point comprising a sample location and an expected distribution of signal values at that sample point;
means for making a sequence of observations of signal values wherein each observation corresponds to a respective location along the target device's path, wherein the sequence of observations and the respective location constitute a Hidden Markov Model;
a graph for modeling the topology of the wireless communication environment, wherein the graph indicates:
several nodes, each node indicating a permissible location in the wireless communication environment;
several arcs, each arc indicating a permissible target device transition between two nodes;
means for estimating the target device's location based on the probabilistic model and the sequence of observations and the graph.
17. A location estimation module according to claim 16 , wherein the location estimation module is contained in the target device.
18. A location estimation module according to claim 16 , wherein the location estimation module is contained in a fixed part of the wireless communication environment.