Systems and methods providing transmit diversity to combat multipath effects in position estimation
Described are systems and methods for estimating a position of receiver using sets of two or more transmitters that share one or more common characteristics with each other. Features may relate to estimating the position of the receiver using signals that were each concurrently transmitted from a different transmitter in a set of co-located transmitters.
1. A method for estimating a position of receiver, wherein the method comprises:
extracting information from a first ranging signal received from a first transmitter;
extracting information from a second ranging signal received from a second transmitter, wherein the first ranging signal and the second ranging signal were concurrently transmitted;
determining a first location of the first transmitter;
determining a second location of the second transmitter, wherein the first location and the second location are separated by no more than 100 meters;
determining an estimated position of the receiver based on one or more relationships between the information extracted from the first and second ranging signals and information corresponding to the first and second locations;
based on determining that the first ranging signal arrived at the receiver before the second ranging signal arrived at the receiver, (i) determining the estimated position using the information extracted from the first ranging signal and without using the information extracted from the second ranging signal, or (ii) adjusting the information extracted from the second ranging signal and determining the estimated position using the adjusted information extracted from the second ranging signal; and
based on determining that the second ranging signal arrived at the receiver before the first ranging signal arrived at the receiver, (i) determining the estimated position using the information extracted from the second ranging signal and without using the information extracted from the first ranging signal, or (ii) adjusting the information extracted from the first ranging signal and determining the estimated position using the adjusted information extracted from the first ranging signal.
2. The method of claim 1 , wherein the method comprises:
determining a weight based on the one or more relationships; and
using the weight to determine the estimated position.
3. The method of claim 1 , wherein the method comprises:
determining a time bias based on the one or more relationships; and
using the time bias to determine the estimated position.
4. A method for estimating a position of receiver, wherein the method comprises:
extracting information from a first ranging signal received from a first transmitter;
extracting information from a second ranging signal received from a second transmitter;
determining a first location of the first transmitter;
determining a second location of the second transmitter, wherein the first location and the second location are separated by no more than 100 meters;
determining an estimated position of the receiver based on one or more relationships between the information extracted from the first and second ranging signals and information corresponding to the first and second locations;
determining a first line-of-sight distance between an initial estimate of the receiver's position and the first location of the first transmitter;
determining a second line-of-sight distance between the initial estimate of the receiver's position and the second location of the second transmitter;
determining a first path distance between the receiver and the first location of the first transmitter, wherein the first path distance corresponds to a first distance travel by the first ranging signal;
determining a second path distance between the receiver and the second location of the second transmitter, wherein the second path distance corresponds to a second distance travel by the second ranging signal; and
determining said estimated position of the receiver using the first line-of-sight distance, the second line-of-sight distance, the first path distance, and the second path distance;
determining a first measure of difference between the first and second path distances;
determining a second measure of difference between the first and second line-of-sight distances;
determining if the first measure exceeds the second measure by a first amount;
based on determining that the first measure exceeds the second measure by a first amount and the first path distance is less than the second path distance, (i) determining the estimated position using the information extracted from the first ranging signal and without using the information extracted from the second ranging signal, or (ii) adjusting the information extracted from the second ranging signal and determining the estimated position using the adjusted information extracted from the second ranging signal; and
based on determining that the first measure exceeds the second measure by a first amount and the second path distance is less than the first path distance, (i) determining the estimated position using the information extracted from the second ranging signal and without using the information extracted from the first ranging signal, or (ii) adjusting the information extracted from the first ranging signal and determining the estimated position using the adjusted information extracted from the first ranging signal.
5. The method of claim 4 , wherein the method comprises:
determining a weight based on the one or more relationships; and
using the weight to determine the estimated position.
6. The method of claim 4 wherein the method comprises:
determining a time bias based on the one or more relationships; and
using the time bias to determine the estimated position.
7. A method for estimating a position of receiver, wherein the method comprises:
extracting information from a first ranging signal received from a first transmitter;
extracting information from a second ranging signal received from a second transmitter, wherein the first ranging signal and the second ranging signal were concurrently transmitted;
determining a first location of the first transmitter;
determining a second location of the second transmitter, wherein the first location and the second location are separated by no more than 100 meters;
determining an estimated position of the receiver based on one or more relationships between the information extracted from the first and second ranging signals and information corresponding to the first and second locations;
determining a first line-of-sight distance between an initial estimate of the receiver's position and the first location of the first transmitter;
determining a second line-of-sight distance between the initial estimate of the receiver's position and the second location of the second transmitter;
determining a first path distance between the receiver and the first location of the first transmitter, wherein the first path distance corresponds to a first distance travel by the first ranging signal;
determining a second path distance between the receiver and the second location of the second transmitter, wherein the second path distance corresponds to a second distance travel by the second ranging signal;
determining said estimated position of the receiver using the first line-of-sight distance, the second line-of-sight distance, the first path distance, and the second path distance;
determining a first measure of difference between the first and second path distances;
determining a second measure of difference between the first and second line-of-sight distances;
determining if the first measure exceeds the second measure by a first amount;
based on determining that the first measure exceeds the second measure by the first amount and the first ranging signal arrived at the receiver before the second ranging signal arrived at the receiver, (i) determining the estimated position using the information extracted from the first ranging signal and without using the information extracted from the second ranging signal, or (ii) adjusting the information extracted from the second ranging signal and determining the estimated position using the adjusted information extracted from the second ranging signal; and
based on determining that the first measure exceeds the second measure by the first amount and the second ranging signal arrived at the receiver before the first ranging signal arrived at the receiver, (i) determining the estimated position using the information extracted from the second ranging signal and without using the information extracted from the first ranging signal, or (ii) adjusting the information extracted from the first ranging signal and determining the estimated position using the adjusted information extracted from the first ranging signal.
8. The method of claim 7 , wherein the method comprises:
determining a weight based on the one or more relationships; and
using the weight to determine the estimated position.
9. The method of claim 7 , wherein the method comprises:
determining a time bias based on the one or more relationships; and
using the time bias to determine the estimated position.
10. A non-transitory machine-readable medium embodying program instructions adapted to be executed to implement a method for estimating a position of receiver, the method comprising:
extracting information from a first ranging signal received from a first transmitter;
extracting information from a second ranging signal received from a second transmitter, wherein the first ranging signal and the second ranging signal were concurrently transmitted;
determining a first location of the first transmitter;
determining a second location of the second transmitter, wherein the first location and the second location are separated by no more than 100 meters;
determining an estimated position of the receiver based on one or more relationships between the information extracted from the first and second ranging signals and information corresponding to the first and second locations;
based on determining that the first ranging signal arrived at the receiver before the second ranging signal arrived at the receiver, (i) determining the estimated position using the information extracted from the first ranging signal and without using the information extracted from the second ranging signal, or (ii) adjusting the information extracted from the second ranging signal and determining the estimated position using the adjusted information extracted from the second ranging signal; and
based on determining that the second ranging signal arrived at the receiver before the first ranging signal arrived at the receiver, (i) determining the estimated position using the information extracted from the second ranging signal and without using the information extracted from the first ranging signal, or (ii) adjusting the information extracted from the first ranging signal and determining the estimated position using the adjusted information extracted from the first ranging signal.
11. The non-transitory machine-readable medium of claim 10 , wherein the method comprises:
determining a weight based on the one or more relationships; and
using the weight to determine the estimated position.
12. The non-transitory machine-readable medium of claim 10 , wherein the method comprises:
determining a time bias based on the one or more relationships; and
using the time bias to determine the estimated position.
13. A non-transitory machine-readable medium embodying program instructions adapted to be executed to implement a method for estimating a position of receiver, the method comprising:
extracting information from a first ranging signal received from a first transmitter;
extracting information from a second ranging signal received from a second transmitter;
determining a first location of the first transmitter;
determining a second location of the second transmitter, wherein the first location and the second location are separated by no more than 100 meters;
determining an estimated position of the receiver based on one or more relationships between the information extracted from the first and second ranging signals and information corresponding to the first and second locations;
determining a first line-of-sight distance between an initial estimate of the receiver's position and the first location of the first transmitter;
determining a second line-of-sight distance between the initial estimate of the receiver's position and the second location of the second transmitter;
determining a first path distance between the receiver and the first location of the first transmitter, wherein the first path distance corresponds to a first distance travel by the first ranging signal;
determining a second path distance between the receiver and the second location of the second transmitter, wherein the second path distance corresponds to a second distance travel by the second ranging signal; and
determining said estimated position of the receiver using the first line-of-sight distance, the second line-of-sight distance, the first path distance, and the second path distance;
determining a first measure of difference between the first and second path distances;
determining a second measure of difference between the first and second line-of-sight distances;
determining if the first measure exceeds the second measure by a first amount;
based on determining that the first measure exceeds the second measure by a first amount and the first path distance is less than the second path distance, (i) determining the estimated position using the information extracted from the first ranging signal and without using the information extracted from the second ranging signal, or (ii) adjusting the information extracted from the second ranging signal and determining the estimated position using the adjusted information extracted from the second ranging signal; and
based on determining that the first measure exceeds the second measure by a first amount and the second path distance is less than the first path distance, (i) determining the estimated position using the information extracted from the second ranging signal and without using the information extracted from the first ranging signal, or (ii) adjusting the information extracted from the first ranging signal and determining the estimated position using the adjusted information extracted from the first ranging signal.
14. The non-transitory machine-readable medium of claim 13 , wherein the method comprises:
determining a weight based on the one or more relationships; and
using the weight to determine the estimated position.
15. The non-transitory machine-readable medium of claim 13 , wherein the method comprises:
determining a time bias based on the one or more relationships; and
using the time bias to determine the estimated position.
16. A non-transitory machine-readable medium embodying program instructions adapted to be executed to implement a method for estimating a position of receiver, the method comprising:
extracting information from a first ranging signal received from a first transmitter;
extracting information from a second ranging signal received from a second transmitter, wherein the first ranging signal and the second ranging signal were concurrently transmitted;
determining a first location of the first transmitter;
determining a second location of the second transmitter, wherein the first location and the second location are separated by no more than 100 meters;
determining an estimated position of the receiver based on one or more relationships between the information extracted from the first and second ranging signals and information corresponding to the first and second locations;
determining a first line-of-sight distance between an initial estimate of the receiver's position and the first location of the first transmitter;
determining a second line-of-sight distance between the initial estimate of the receiver's position and the second location of the second transmitter;
determining a first path distance between the receiver and the first location of the first transmitter, wherein the first path distance corresponds to a first distance travel by the first ranging signal;
determining a second path distance between the receiver and the second location of the second transmitter, wherein the second path distance corresponds to a second distance travel by the second ranging signal;
determining said estimated position of the receiver using the first line-of-sight distance, the second line-of-sight distance, the first path distance, and the second path distance;
determining a first measure of difference between the first and second path distances;
determining a second measure of difference between the first and second line-of-sight distances;
determining if the first measure exceeds the second measure by a first amount;
based on determining that the first measure exceeds the second measure by the first amount and the first ranging signal arrived at the receiver before the second ranging signal arrived at the receiver, (i) determining the estimated position using the information extracted from the first ranging signal and without using the information extracted from the second ranging signal, or (ii) adjusting the information extracted from the second ranging signal and determining the estimated position using the adjusted information extracted from the second ranging signal; and
based on determining that the first measure exceeds the second measure by the first amount and the second ranging signal arrived at the receiver before the first ranging signal arrived at the receiver, (i) determining the estimated position using the information extracted from the second ranging signal and without using the information extracted from the first ranging signal, or (ii) adjusting the information extracted from the first ranging signal and determining the estimated position using the adjusted information extracted from the first ranging signal.
17. The non-transitory machine-readable medium of claim 16 , wherein the method comprises:
determining a weight based on the one or more relationships; and
using the weight to determine the estimated position.
18. The non-transitory machine-readable medium of claim 16 , wherein the method comprises:
determining a time bias based on the one or more relationships; and
using the time bias to determine the estimated position.