High resolution wireless indoor positioning system for legacy standards-based narrowband mobile radios

1. A system for calculating the time of arrival of a wireless signal through a wireless channel, comprising:

a receiver device that receives a sequence of two or more data packets transmitted through a wireless channel, wherein the two or more data packets are a result of two or more transmissions that are made sequentially in time at different center frequencies in order to span a desired bandwidth and wherein each data packet of the two or more data packets includes a physical layer preamble and is transmitted at a single center frequency, and

calculates a time of arrival of the received sequence using each data packet of the received sequence and one or more of the time differences among the two or more transmissions, the different center frequencies, and any carrier phase differences among the two or more transmissions,

wherein the time of arrival is calculated by

for each data packet of the received sequence, computing a mean-square-error versus candidate time of arrival curve producing a plurality of computed curves,

summing the plurality of computed curves, and

selecting a candidate time of arrival that produces the smallest summed mean-square-error for the sum as the time of arrival.

2. A system for calculating the time of arrival of a wireless signal through a wireless channel, comprising:

a receiver device that receives a sequence of two or more data packets transmitted through a wireless channel, wherein the two or more data packets are a result of two or more transmissions that are made sequentially in time at different center frequencies in order to span a desired bandwidth and wherein each data packet of the two or more data packets includes a physical layer preamble and is transmitted at a single center frequency, and

calculates a time of arrival of the received sequence using each data packet of the received sequence and one or more of the time differences among the two or more transmissions, the different center frequencies, and any carrier phase differences among the two or more transmissions,

wherein the time of arrival is calculated by,

for each data packet of the received sequence, estimating a time of arrival and subtracting a time offset relative to other data packets from estimated time of arrival producing a plurality of preliminary time of arrivals for the sequence and

calculating the time of arrival as a maximum, minimum, median, mean, or mode of the plurality of preliminary time of arrivals.

3. A system for calculating the time-of-arrival of a wireless signal through a wireless channel, comprising:

a receiver device that

receives two or more data packets transmitted through a wireless channel, wherein the two or more data packets are a result of two or more transmissions that are made sequentially in time at different center frequencies in order to span a desired bandwidth, and wherein each data packet of the two or more data packets is transmitted at a single center frequency,

estimates time differences among the two or more transmissions and/or carrier phase differences among the two or more transmissions, and

calculates a time-of-arrival of the two or more data packets using each data packet of the two or more received data packets and one or more of the estimated time differences, the different center frequencies, and the estimated carrier phase differences,

wherein the time of arrival is calculated by

for each data packet of the two or more received data packets, computing a mean-square-error versus candidate time of arrival curve producing a plurality of computed curves,

summing the plurality of computed curves, and

selecting a candidate time of arrival that produces the smallest summed mean-square-error for the sum as the time of arrival.

4. A system for calculating the time-of-arrival of a wireless signal through a wireless channel, comprising:

a receiver device that

receives two or more data packets transmitted through a wireless channel, wherein the two or more data packets are a result of two or more transmissions that are made sequentially in time at different center frequencies in order to span a desired bandwidth, and wherein each data packet of the two or more data packets is transmitted at a single center frequency,

estimates time differences among the two or more transmissions and/or carrier phase differences among the two or more transmissions, and

calculates a time-of-arrival of the two or more data packets using each data packet of the two or more received data packets and one or more of the estimated time differences, the different center frequencies, and the estimated carrier phase differences,

wherein the time of arrival is calculated by,

for each data packet of the two or more data packets, estimating a time of arrival and subtracting a time offset relative to other data packets from estimated time of arrival producing a plurality of preliminary time of arrivals for the sequence and

calculating the time of arrival as a maximum, minimum, median, mean, or mode of the plurality of preliminary time of arrivals.