Positioning systems for wireless networks

1. A method of computing positioning of a mobile device in a wireless network, the method comprising:

receiving a message sent from a mobile device at each of a set of network nodes at corresponding network node locations;

exchanging pings among the network nodes, including assigning local clock values to pings upon sending and receiving the pings;

from the local clock values exchanged among the network nodes, determining clock differences among the network nodes;

from the clock differences, determining path delay between the network nodes;

from data provided by the network nodes about receipt of the message and the path delays, determining pseudo range estimates between the mobile device and the network nodes; and

determining location of the mobile device by evaluating differences between candidate positions of the mobile device and the pseudo range estimates, and selecting a candidate location with minimum error criteria as the location of the mobile device;

wherein multipath error is estimated for the network nodes and removed from the pseudo range estimates prior to determining the location, and determining location comprises evaluating variation of a differential between ranges of candidate positions of the mobile device and the pseudo range estimates, and selecting a location where the variation of the differential satisfies predetermined criteria.

2. The method of claim 1 wherein multipath error is estimated for the network nodes and removed from the pseudo range estimates.

3. The method of claim 2 wherein the wherein multipath error is estimated for the network nodes and compensated for in the determining of the location of the mobile device.

4. The method of claim 2 wherein the multipath error is estimated by determining areas with similar estimated multipath error and assigning multipath errors corresponding to the areas to the network nodes within the areas.

5. The method of claim 2 wherein the multipath error is estimated by evaluating differential range estimates of network nodes relative to the mobile device computed from the message sent to the network nodes from the mobile device, and assigning multipath error estimates to pairs of nodes.

6. The method of claim 1 wherein full duplex exchanges between network nodes is used to determine the path delays.

7. The method of claim 1 including evaluating clock value differences between pairs of network nodes over time to determine the clock differences of local clocks within the network nodes.

8. The method of claim 7 wherein the evaluating comprises a linear modeling of fitting clock count differences to a linear model to derive clock difference parameters among pairs of nodes.

9. The method of claim 8 wherein a consistency checking process is applied to clock count data before applying the linear modeling, wherein the consistency checking evaluates data collected over time and removes outlier clock count data.

10. The method of claim 1 wherein the mobile device operates in a transmit only mode, sending the message to the network nodes, which count stamp the message upon receipt, and including deriving differential ranges of the network nodes to the mobile device from count stamps of the message at the network nodes.

11. The method of claim 1 wherein estimated multipath error is used to compensate for multipath error in computing the differential.

12. The method of claim 1 wherein multipath error estimates are refined by averaging estimates of multipath error from un-correlated conditions, and using the refined estimates of multipath error to compensate for multipath error in the determining of the mobile device location.

13. A method of computing positioning of a mobile device in a wireless network, the method comprising:

receiving a message sent from a mobile device at each of a set of network nodes at corresponding network node locations;

exchanging pings among the network nodes, including assigning local clock values to pings upon sending and receiving the pings;

from the local clock values exchanged among the network nodes, determining clock differences among the network nodes;

from the clock differences, determining path delay between the network nodes;

from data provided by the network nodes about receipt of the message and the path delays, determining pseudo range estimates between the mobile device and the network nodes; and

determining location of the mobile device by evaluating differences between candidate positions of the mobile device and the pseudo range estimates, and selecting a candidate location with minimum error criteria as the location of the mobile device;

wherein multipath error is estimated for the network nodes and removed from the pseudo range estimates;

wherein the wherein multipath error is estimated for the network nodes and compensated for in the determining of the location of the mobile device; and

wherein multipath error estimates are refined by averaging estimates of multipath error from un-correlated conditions, and using the refined estimates of multipath error to compensate for multipath error in the determining of the mobile device location.

14. A method of computing positioning of a mobile device in a wireless network, the method comprising:

receiving a message sent from a mobile device at each of a set of network nodes at corresponding network node locations;

exchanging pings among the network nodes, including assigning local clock values to pings upon sending and receiving the pings;

from the local clock values exchanged among the network nodes, determining clock differences among the network nodes;

from the clock differences, determining path delay between the network nodes;

from data provided by the network nodes about receipt of the message and the path delays, determining pseudo range estimates between the mobile device and the network nodes; and

determining location of the mobile device by evaluating differences between candidate positions of the mobile device and the pseudo range estimates, and selecting a candidate location with minimum error criteria as the location of the mobile device;

wherein multipath error is estimated for the network nodes and removed from the pseudo range estimates prior to determining the location; and

wherein the multipath error is estimated by evaluating differential range estimates of network nodes relative to the mobile device computed from the message sent to the network nodes from the mobile device, and assigning multipath error estimates to pairs of nodes.