Method for position finding by cross linking measurements

FIELD: information technology.

SUBSTANCE: mobile communication device uses a position finding method using a position finding filter, for example a Kalman filter which is initialised by measurements from reference stations, for example satellites and/or base stations, which can be obtained during different periods. Accordingly, the position finding filter can be used to evaluate the position without the need to first obtain at least three different signals during the same measurement period.

EFFECT: high efficiency and reliability of position finding for mobile receivers of a global positioning system in unfavourable signal propagation conditions when coincidence of range measurements may not occur on time.

40 cl, 9 dwg

 

Reference to related applications

This application claims priority to jointly considered provisional patent application U.S. No. 60/779,935, entitled "Measurement Stitching for Improved Position Location in Wireless Communication System", filed on March 6, 2006, the rights to which are owned by the applicant of the present application and which is incorporated here by reference.

The technical field

This disclosure relates to systems used to determine the position and, in particular, to the calculation of decisions on provisions for mobile receivers.

The level of technology

Global positioning (GPS) is a satellite navigation system, or satellite system positioning, designed to provide information of position, velocity and time, virtually anywhere in the world. GPS was developed by the U.S. Department of defense and currently includes a group of twenty-four operational satellites. Other types of satellite navigation systems include a regional system of radiodetermination location with satellite respondents on the frequency of request (WAAS), Global navigation satellite system (GLONASS), deployed by the Russian Federation, and the Galileo system, planned by the European Union. Here, the term "satellite system positioning" (SPS) is used in related and GPS, Galileo, GLONASS, NAVSTAR, GNSS, a system that uses satellites from a combination of these systems, pseudopatriotic systems, or any SPS that will be created in the future.

Different receivers have been designed to decode signals transmitted from satellites to determine position, velocity or time. In General, to decode the signals and calculate the final position, the receiver must acquire signals from satellites within line of sight, to measure and monitor the received signals and retrieve navigation data from the signals. Thanks to the precise measurement of the distance from three different satellites, the receiver triangulorum its position, i.e. finds the latitude, longitude and height. In particular, the receiver measures the distance by measuring the time required for distribution of each signal from the satellite to the receiver. This requires information on the exact time. For this reason, it is usually necessary measurements from the fourth satellite, which allow to determine the overall error of time measurement, such as errors caused by errors in the circuits of time on the receiver.

In some places, for example in cities with tall buildings, the receiver may be able to capture the signals from three or fewer satellites. In these situations, the receiver will nesp is capable to find all four parameter decisions about position: latitude, longitude, altitude and time. If the receiver is able to pick up signals from three satellites, the receiver can, for example, to abandon the altitude calculation to find the latitude, longitude and time. Alternatively, if the height can be obtained by external means, all four variables can be found from three satellite signals. If there are less than three signals, the receiver may not be able to calculate its position.

To overcome this limitation, many receivers used hybrid technology positioning, which involves the use of signals from the base stations of wireless communication systems. As for the satellite signals, hybrid receivers measure the time delay of wireless signals to measure distances from the base stations in the network. Hybrid receivers use signals from base stations, as well as any received signals from GPS satellites for finding variables of position and time. A hybrid method for the determination of position often allows the receiver to calculate a decision on the provisions in a wide range of provisions, where traditional methods of determining the position fail. In wireless mobile systems, multiple access, code division (CDMA), for example, this part of the hybrid method associated with the measurement signals of the base stations is, called Advanced Forward Link Trilateration [enhanced triangulation with measured lengths on the basis of the signals straight line] (AFLT).

The accuracy of finding the position of the receiver depends on the accuracy of time measurement in the system. In synchronized systems, for example, existing CDMA systems, information bronirovania transmitted by the cellular base station is synchronized with the information bronirovania from GPS satellites, making accurate time is available throughout the system. In some systems, for example Global system for mobile communications (GSM), information bronirovania is not synchronized between the base stations and the GPS satellites. In these systems, measurement devices regulations (LMU) added to the existing infrastructure to provide accurate information bronirovania for your wireless network.

Another approach, often used in systems and algorithms positioning, involves the application of Kalman filtering. As is known, the Kalman filter (FC) is an optimal recursive estimation algorithm data. It is often used to model attributes of moving bodies, such as aircraft, people, cars, etc., These attributes may include, for example, speed and position. The current system state and the current measurement are used to evaluate the new state is of the system. In practice, the Kalman filter combines all available measurement data, plus previously known information about the system, measuring devices, and error statistics to generate estimates of the desired variables in such a way as to statistically minimize the error.

In the past, the Kalman filter used in the mobile communication device, usually required some initialization parameters from the associated system determine the position of the receiver. For example, when using a GPS receiver usually received simultaneous measurements from at least three different satellites before it can initialize the Kalman filter. This means that in one period of the measurement signals from at least three different satellites are received and successfully processed by the mobile communication device. This requirement reduces the performance of the mobile device as to receive signals from three satellites may require of the order of tens of seconds, especially in urban environments. If the necessary signals are not received or not received in time, part of the mobile device, responsible for positioning, may fail in initialization and may not work properly or efficiently.

Thus, the normal initialization of the Kalman filter used to determine the position of the mod is safe device, requires full initial state at some time been first obtained, in order to assess the updated status information determine the position for time t>t0. This restriction implies that for mobile GPS receivers in the boundary conditions of signal propagation, for example, changing over time obstacles on the line of signal propagation from the satellite can be difficult or long to receive simultaneously (i.e. within the same period) ranging from at least 3 GPS satellites required for initialization of the Kalman filter. It is highly desirable to improve the performance of location determination for mobile GPS receivers in adverse propagation conditions signal when the simultaneity of range measurements in a timely manner may not occur.

Accordingly, there remains a need for improved capability to mobile communication devices, and so they did it in a timely and efficient manner.

The invention

One aspect of the present invention provides a way of estimating the position of the mobile communication device, comprising stages, in which: specify the initial state of the filter positioning by means of the approximate position; updating the filter determine the possible position through the first set of measurements, obtained during the first measurement period from the first subset of the reference stations, in which the first subset includes at least three different reference stations; update the filter positioning through the second set of measurements obtained during the second measurement period from the second subset of reference stations; and determine the assessment for mobile devices based on the updated filter positioning.

Another aspect of the present invention provides a way of estimating the position of the mobile communication device, comprising stages, in which: specify the initial state of the filter positioning by means of the approximate position; updating the filter positioning through the first set of measurements obtained during the first measurement period from the first subset of sources to determine the pseudorange, in which the first subset includes at least three different sources determine the pseudorange; update the filter positioning through the second set of measurements obtained during the second measurement period from the second subset of sources to determine the pseudorange; and determine the assessment for mobile devices based on the updated filter definition provisions.

More about the ins aspect the present invention provides a way of estimating the position of the mobile communication device, containing phases in which: stores the set of pseudorange measurements from a set of reference stations, labeled time according to local time; then establish the relationship between local time and satellite system time; determine the satellite system time stored set of pseudorange measurements; and using the stored set of measurements of pseudorange and satellite system time this set of measurements to determine the position of the mobile device.

Another aspect of the present invention provides a way of estimating the position of the mobile communication device, comprising stages, which are: keep a set of pseudorange measurements from a set of reference stations; then determine the ephemeris information for a set of reference stations; and using the stored set of measurements of pseudorange and again certain ephemeris information to determine the position of the mobile device.

Another aspect of the present invention provides a way of estimating the position of the mobile communication device, comprising stages, which define the initial state of the filter positioning by means of an approximate position, update the filter positioning by first measuring the pseudorange obtained during the first period of the and dimensions of the first subset of the reference stations, in which the first subset includes at least three different reference stations; update the filter positioning through a second pseudorange measurement obtained during the second measurement period from the second subset of reference stations; determine the assessment for mobile devices based on the updated filter positioning; and using back propagation determine the time for the first subset and the second subset.

Another aspect of the present invention provides a mobile communication device containing a first receiver capable of receiving signals related to the satellite system positioning; a second receiver capable of receiving signals related to communication network; a processor that communicates with the first and second receivers; a processor capable of: (a) determine the initial state of the filter positioning by first measuring the pseudorange obtained during the first measurement period from the first subset of reference stations, satellite systems determine the position in which the first subset includes at least three different reference stations; (b) to update the filter positioning through the second measuring the pseudorange obtained during the second measurement period from storagemanager reference stations satellite system positioning; and c) to determine the assessment for mobile devices based on the updated filter positioning.

On the basis of the following detailed description, where to order illustrations shown and described various embodiments of the specialists in this field of technology can offer other options for implementation. The drawings and detailed description should be regarded as illustrative in nature and not restrictive.

Brief description of drawings

Figure 1 is a General diagram illustrating a mobile device that communicates with a cellular telephone network and satellite positioning.

Figure 2 plots the mobile communication device in accordance with the principles of the present invention.

Figure 3 - timeline of measurements taken from different satellites satellite system positioning.

4 is a logical block diagram of an illustrative method for determining the position of the mobile device in accordance with the principles of the present invention.

5 is a chart showing the performance improvement due to the use of simulation by the Monte Carlo method, combined in multiple places.

6 is a further clarification of an improved method for fusion Kalman filtering.

Fig.7 is a hypothetical example, when EANS has a time-out in 16 seconds.

Fig - hypothetical case, after the capture of only 2 satellites it is possible to obtain improved initial position to obtain measurements from 3 different satellites.

Fig.9 is a hypothetical case where the GPS cannot get earlier than about 20 seconds after the start of the session.

DETAILED DESCRIPTION

The detailed description below in conjunction with the accompanying drawings, is intended to describe various embodiments of the present invention and are not intended to represent the only embodiments of which the present invention can be implemented in practice. Each variant of the implementation described in this disclosure represents only an example or illustration of the present invention and is not necessarily preferred or predominant over the other variants of implementation. The detailed description includes specific details in order to ensure full understanding of the present invention. However, specialists in the art it is obvious that the present invention can be practiced without these specific details. In some cases, well-known structures and devices are shown in block diagrams in order not to obscure the principles of the present invention. Acronyms and special terms may be used only for convenience and asnos and and are not intended to limit the scope of the invention. In addition, for the purposes of this disclosure, the term "attached" means "connected", and such connection may be direct, when applicable, in the context, or indirect, e.g., through an intermediate or transitional devices, and other tools.

According to figure 1, the mobile device 104 may be any of a variety of mobile receivers capable of receiving navigation signals (e.g., navigation signals 110 satellites or signals 112 wireless) from the reference stations, such as satellites 106 and/or base stations 108, to calculate decisions on provisions. Examples include mobile phones, pocket navigation receiver, receiver mounted on a vehicle such as an airplane, car, truck, tank, ship, etc. of the Base station 108 may communicate with the mobile device 104 according to any one of several wireless protocols. One common wireless Protocol is a Protocol multiple access code division (CDMA), in which mobile communication is carried out simultaneously in the radio frequency (RF) spectrum. In the CDMA environment, the methods can be considered as a mechanism of enhanced extended trilateration based on the signals straight line (AFLT). Other examples include Globalno the system for mobile communications (GSM), which uses narrowband mode multiple access with time division (TDMA) data and General packet radio service (GPRS). In some embodiments, the implementation, the mobile device 104 may comprise a GPS receiver and a device for wireless transmission of speech or data. Thus, while this document describes a specific example of the GPS system, the principles and approaches of the present invention is applicable to any satellite system positioning or ground system for determining position, such as a wireless network.

The mobile device 104 computes the solution to determine the position based on the signals 110, 112, received from the satellites 106 and base stations 108, respectively. The mobile device 104 receives signals from satellites 110 106 that are within line of sight, and measures the distance from each satellite by measuring the time required for distribution of each signal from the satellite to the mobile device 104 to determine a pseudorange measurement. Similarly, the mobile device 104 may also receive signals 112 from the base stations 108 of the wireless communication system 107 and measure the distance from the base station 108 based on the time required to distribute each wireless signal from the bozos who's stations to the mobile device. The mobile device 104 typically finds variables of position and time measurements.

Figure 2 shows the block diagram plots the mobile communication device 104 in accordance with the principles of the invention, which relate to the determination of the position of the mobile device 104. Mobile device 104 may include an antenna 220 capable of receiving signals from a satellite navigation system or satellite system positioning, and the other antenna 206 that can receive signals from ground-based communication network. These signals are sent to the processor 202, which includes hardware and software components that provide functions of the signal processing in respect of the signals. In particular, the Kalman filter 204 is implemented in the mobile device 104, which performs the functions of determining the position of the mobile device 104.

As is known from the prior art, the filter positioning, such as the Kalman filter 204, receives the input measurements and implements the algorithm of finding the right variables on the basis of the input measurements and the historical state of the system. Memory, though not shown, is often used to store state information and the values of the covariance matrix for the Kalman filter, which provides a measure of the error, or certainty, of the assessments provided by the filter Ka is mana.

Mobile device 104 may represent, for example, cell phone or similar mobile device. Accordingly, there are additional functional blocks and devices that are part of the mobile device 104, which is not shown in figure 2. These additional units and/or devices are typically associated with the processing of the signals from the antennas 206, 220; providing a user interface, providing voice communication; provision of data and other similar functions. Many of these functional blocks and devices not directly related to the position and therefore are not included in order not to obscure the principles of the present invention.

As was briefly explained above, the signals are generally received from satellites via the antenna 220. Then these signals are decoded and converted into information provision using well-known algorithms and methods. In the past, to generate notches provisions required signals from at least three satellites during one measurement period, using weighted least squares (WLS), which can be used to initialize the Kalman filter 204. After initialization of the Kalman filter can continue to develop assessments based on the further signal is of the GPS. Figure 3 shows a scenario in which the GPS measurements 302 (1, 2 or 3 satellites) are accepted during certain periods of the measuring 300 and none of the earliest measurements does not include the simultaneous signals from three different satellites. Thus, despite the constant receiving signals that include information provision, the Kalman filter used previously, it was impossible to initialize before receiving GPS measurements from three different satellites during one measurement period (which usually occurs at the moment 306).

In contrast, embodiments of the present invention include using the information to determine the position obtained during different periods of measurement, to initialize the Kalman filter. Thus, three different dimensions from multiple non-simultaneous periods of measurements available at the moment 304 (much earlier than the moment 306), and the Kalman filter is able to provide a mark of good quality at an earlier point in time. The previous explanation relies on the assumption that the generation of the notch position of the receiver requires only three satellite signal measurements. This assumption is based on the information of height, which is available from alternative sources, such as network communication and other Alternative, if the height of the defects is on, the same principle applies for four satellites, instead of three.

Before will be available three satellite measurements positioning, embodiments of the present invention may use two dimensions to significantly improve the assessment on the basis of the starting position. For example, using the measurements from two satellites, can provide an estimate of the horizontal position, which is usually at least 30% more precise initial position and is often in the range of 100-500 meters.

Figure 4 shows a logical block diagram illustrative of the method of use of different satellite measurements to provide status information in accordance with the principles of the present invention. At step 402, the mobile device starts to receive any information allowing to determine the position, which is accessible from a communication network or from memory. For example, the height within 50 meters can be available as the position within a few hundred meters, in the presence of auxiliary GPS system. Then, at step 404, this information is used to initialize the state of the Kalman filter and the covariance matrix. The Kalman filter is able to provide a prediction of the position and speed, and to adjust the previous forecast for current position and speed. Thus, Setswana, memory devices or other sources can provide an initial position and estimation errors, which specify the initial state of Kalman filter.

Then, at step 406, the state of the Kalman filter and the covariance matrix are updated any position, from any satellite. For example, if the position of the mobile device to a relatively small area of the earth surface (for example, in the sector cells of the wireless network is known, the information of the pseudorange from two satellites can be used to identify a relatively short straight cut, which is a mobile device. In the internal operation of the Kalman filter, the covariance matrix is automatically updated, and these updates reflect the new estimate of error for predicted values. Thus, the Kalman filter provides an estimate, for example, at step 408 latitude and longitude of the mobile device together with the estimate of error or uncertainty. In addition, the Kalman filter provides the height of the mobile device. At step 409 is checked to determine whether the estimated error to the application requirements. If Yes, move to step 410, where the application is transmitted to the estimated values of latitude, longitude, and height. If not, back to etapu. Specialist in the art it is obvious that various mathematical manipulations and transformations of coordinates can be performed to ensure proper format downloadable and updated information about the state and covariance matrix.

Figure 5 shows a chart showing the performance improvement due to the use of simulation by the Monte Carlo method, combined in multiple places. Horizontal error (HE) for the 68 percentile decreased from 333 m for WLS to 124 m for stitching FC. HE for 95 percentile decreases with 942 m for WLS to 838 m for stitching FC.

According to figure 3, the GPS measurements from consecutive periods can be used to reduce errors (via the Kalman filter) even in the absence of data from other satellites. Thus, for example, the Kalman filter can use two adjacent measurement from the satellite to "1" even in the absence of information from other satellites. Eventually, when receiving information from additional satellites estimate from the Kalman filter can be updated, respectively, despite the fact that measurements were not taken during the same measurement period. Finally, after a sufficient number of updates, the Kalman filter will be able to predict the position and velocity at the level of uncertainty acceptable for the application.

Additional the Noe refinement of an improved method for fusion Kalman filtering is shown in Fig.6. The upper diagram illustrates the traditional scenario timeline measurement GPS mobile receiver, where the Kalman filter cannot be initialized without at least 3 simultaneous GPS measurements. Serif provisions WLS method using 3 satellites are needed to start the evaluation process FC, which in this hypothetical example, occurs in approximately 30 seconds after the start of the session. Then FC continues to update the notch position, even if this period is available for at least 3 satellite measurements. On the contrary, the lower diagram shows the scenario timeline GPS measurements according to the invention, where the Kalman filter can make a decision about the situation as typical for GPS, in the presence of 3 non-simultaneous GPS measurements using the capabilities of "stapling", provided by the present invention. In this case, the process of evaluating the FC starts about 10 seconds after the start of the session, when at least 3 satellites successfully observed, albeit in different periods. In addition, after the successful initialization FC continues to update the notch position, even if this period is available for at least 3 satellite measurements.

Thus, an improved method of crosslinking FC, illustrated above, can significantly reduce the time to first suseck the mobile GPS receivers under adverse conditions of signal propagation. In addition, as described above, it is possible to achieve high accuracy of determining the horizontal position.

Another advantage of this invention consists in the improved receiving a decision under adverse conditions of signal propagation. For example, figure 7 shows the same hypothetical example, as figure 6, but with the addition of a hypothetical time-out session in 16 seconds. Traditional serif provisions on the basis of the evaluation WLS does not reach the correct position to notch timeout due to its delay of about 30 seconds. On the other hand, the initial notch position on the basis of stitching FC according to this invention can achieve the correct notch for the time, a lower limit of the timeout. Thus, this method can provide a higher probability of successful notches provisions for mobile GPS receivers in the difficult conditions of signal propagation.

Another aspect of this invention is an improvement in the uncertainty of the input position using line position 2-GPS. On Fig shows a hypothetical case, after the capture of only 2 satellites it is possible to obtain improved initial position to obtain measurements from 3 different satellites. This feature is based on the geometric property, consisting in the fact that the determination of the three-dimensional position, with two rights of the selected measuring the pseudorange plus height, leads to a one-dimensional line decisions on provisions. This solution has only one remaining degree of freedom compared with the full cut position, which decreases linearly uncertainty and a significant reduction of uncertainty in area compared with the baseline situation.

Another advantage of this invention is that, if the exact GPS time is unknown at the beginning of the session, you can use back-propagation to use old saved, measurements after obtaining accurate GPS time (up to fractions of a millisecond). For example, figure 9 shows a hypothetical case where the GPS cannot get earlier than about 20 seconds after the start of the session. In other words, the first set of range measurements GPS you can get and keep, but not directly used, because of the lack of information by the GPS. After determining GPS time is set to the ratio between the local time and the GPS time, then the previously stored GPS measurements can be associated with the exact GPS time and processing back-propagation can be used to retrieve previously stored data for improved positioning. Thus, the back-propagation allows the GPS receiver to fully use all the correct satellite measurements GS, even if the GPS time is not obtained immediately, resulting in increased productivity and accuracy.

Another advantage of this invention is that, if accurate ephemeris data of the satellite is not available in the beginning of the session, you can use back-propagation to use old saved, measurements after obtaining the precise ephemeris. After receiving ephemeris data of the satellite's position is known, and then the previously stored GPS measurements can be associated with precise ephemeris data of the satellite and processing back-propagation can be used to retrieve previously stored data for improved positioning. Thus, the back-propagation allows the GPS receiver to fully use all the correct GPS satellite measurements, even if the ephemeris data of the satellite is not received immediately, resulting in increased productivity and accuracy.

In practice, the information provisions of the Kalman filter is transmitted, at step 410, one or more applications that can run on a mobile device. For example, service-based regulations, such as local weather service, may use the evaluation of the situation of uncertainty of the order of a kilometer or more. On the contrary, service "911" may require certainty estimates put the I reached 50 meters or less. Accordingly, the evaluation of the position (and speed), you can send the application together with any estimates of uncertainty or error. Thus, each application can choose whether the position from the Kalman filter for his requirements.

The methods described here broadcasting different types of broadcast can be implemented by various means. For example, these methods can be implemented in hardware, software, or combinations thereof. For a hardware implementation, the processing device at the base station used to broadcast different types of transmission can be implemented in one or several specific integrated circuits (ASIC), digital signal processors (DSPS), digital signal processing (DSPD), programmable logic devices (PLD), gate arrays, programmable by the user (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic devices capable of implementing the functions described here, or their combinations. Processing device on a wireless device, used to receive different types of transmission can also be implemented in one or several ASIC, DSP, etc.

For the software implementation, the techniques described here can be implemented through modules (e.g., procedures, functions, etc), to whom that carry out the functions described here. Software codes may be stored in a storage device and executed by the processor. The storage device can be implemented within the processor or external to your processor, in which case it may accede to the processor with the ability to communicate through various means known in the art.

The above description allows specialists in the art to practice the various options described here implement. Specialist in this field should be apparent, various modifications of these embodiments, disclosed here, the General principles can be applied to other variants of implementation. Thus, the claims should not be limited to the presented here options of implementation, but is subject to review in full, consistent with the language of the claims, where reference element in the singular does not mean "one and only one"unless specifically stated otherwise, but it means "one or more." All structural and functional equivalents to the elements of the various embodiments described in this disclosure that are known or will be known later specialists in a given field of technology explicitly included here by reference and are subject to coverage by the claims. In addition, the information disclosed here is ia not subject to public disclosure regardless of mentioned whether explicitly such disclosure in the claims. No part of the claim is not subject to interpretation under the provisions of 35 U.S.C. §112, paragraph six, if the item is not mentioned explicitly using the phrase "means for"or, in relation to the item method, the element is not mentioned with the use of the expression "the stage at which".

1. The way of estimating the position of the mobile communication device, comprising stages, which define the initial state of the filter positioning by means of an approximate position, and updates the filter positioning through the first set of measurements obtained during the first measurement period from the first subset of the reference stations, and referred to the first set of measurements is insufficient to initialize mentioned filter positioning, initialize the filter positioning, using the aforementioned first set of measurements and the second set of measurements obtained during the second measurement period from the second subset of the reference stations, and mentioned the second period measurement series comes to the mentioned first measuring period, and referred to the second set of measurements allows the use of the above first set of measurements for the determination of the provisions for mobile devices.

Cab according to claim 1, in which the filter positioning is a Kalman filter.

3. The method according to claim 1, wherein the second subset of reference stations includes at least three different reference stations.

4. The method according to claim 1, wherein the first subset of the reference stations and the second subset of reference stations include at least three different reference stations.

5. The method according to claim 1, wherein the first subset of the reference stations and the second subset of reference stations do not share a common reference station.

6. The method according to claim 1, wherein the first subset of the reference stations and the second subset of reference stations share at least one common reference station.

7. The method according to claim 2, additionally containing phase, which take the initial information of the position of the mobile communication device of a cellular network.

8. The method according to claim 7, in which the cellular network comprises a CDMA network.

9. The method according to claim 7, in which the initial information of the position includes the position value and the value of uncertainty.

10. The method according to claim 9, further containing a stage at which fills part of the state vector of the Kalman filter, at least one part of the position values.

11. The method according to claim 9, further containing a stage at which fills part of the covariance matrix of the Kalman filter, at least one part of the value is not what either certain.

12. The method according to claim 1, wherein the first set of measurements includes measurements of pseudorange, which refers to the Global system positioning.

13. The method according to claim 1, wherein the position comprises a position value and the value of uncertainty.

14. The method according to claim 1, additionally containing phase, which passed the assessment of the application running on the mobile communication device.

15. The method according to claim 1, additionally containing phase, which continue to update the filter positioning through serial measurements of any of the set of reference stations.

16. The way of estimating the position of the mobile communication device, comprising stages, which define the initial state of the filter positioning by means of an approximate position, update the filter positioning through the first set of measurements obtained during the first measurement period from the first subset of sources to determine the pseudorange, and referred to the first set of measurements is insufficient to initialize mentioned filter positioning, initialize the filter positioning, using the aforementioned first set of measurements and the second set of measurements obtained during the second measurement period from the second subset of the source is s determine the pseudorange, moreover, mentioned the second period measurement series comes to the mentioned first measuring period, while the aforementioned second set of measurements allows the use of the above first set of measurements for the determination of the provisions for mobile devices.

17. The method according to clause 16, in which the sources determine the pseudorange consist of base stations of the terrestrial wireless network.

18. The method according to clause 16, in which the sources determine the pseudorange consist of a combination of base stations of the terrestrial wireless network and reference stations.

19. The method according to clause 16, in which the sources determine the pseudorange consist of satellites satellite system positioning.

20. The way of estimating the position of the mobile communication device, comprising stages, which stores the set of pseudorange measurements from a set of reference stations, labeled time according to local time, then establish the relationship between local time and satellite system time, determine the satellite system time stored set of pseudorange measurements, connect the saved set of pseudorange measurements with satellite system time and handle back-propagation using the stored set of pseudorange measurements and the satellite is the first system time this set of measurements to determine the position of the mobile device.

21. The way of estimating the position of the mobile communication device, comprising stages, which stores the set of pseudorange measurements from a set of reference stations, then determine the ephemeris information for a set of reference stations, link saved set of pseudorange measurements with ephemeris information and handle back-propagation using the stored set of measurements of pseudorange and again certain ephemeris information to determine the position of the mobile device.

22. The mobile communication device containing a first receiver for receiving signals related to the satellite system positioning, a second receiver for receiving signals relating to the communication network, and a processor that communicates with the first and second receivers, and a processor capable of: to set the initial state of the filter positioning by first measuring the pseudorange obtained during the first measurement period from the first subset of reference stations, satellite system positioning, and mentioned first measurement of the pseudorange is not enough to initialize the above-mentioned filter positioning, and initialize the filter positioning, using the aforementioned first measurement of the pseudorange and the second measure is the pseudorange, obtained during the second measurement period from the second subset of reference stations, satellite system positioning, and mentioned the second period measurement series comes to the mentioned first measuring period, while the aforementioned second pseudorange measurement permits the use of the above first pseudorange measurement for the determination of the provisions for mobile devices.

23. The device according to item 22, in which the filter positioning is a Kalman filter.

24. The device according to item 22, in which the second subset of reference stations includes at least three different reference stations.

25. The device according to item 22, in which the first subset of the reference stations and the second subset of reference stations include at least three different reference stations.

26. The device according to item 22, in which the first subset of the reference stations and the second subset of reference stations do not share a common reference station.

27. The device according to item 22, in which the first subset of the reference stations and the second subset of reference stations share at least one common reference station.

28. The device according to item 22, in which the first receiver is additionally capable of receiving the initial information of the position of the mobile communication device of the communication network.

29. The device according to p, in which the te links includes the CDMA network.

30. The device according to p, in which the initial information of the position includes the position value and the value of uncertainty.

31. The device according to item 30, in which the processor is additionally able to fill part of the covariance matrix of the filter determine the position of at least one of the position values and uncertainties.

32. The device according to item 22, in which the first pseudorange measurement refers to the Global system positioning.

33. The device according to item 22, in which the position includes the position value and the value of uncertainty.

34. The device according to item 22, which additionally contains the application executed by the processor and capable of receiving the assessment.

35. The device according to item 22, in which the processor is additionally able to continue updating the filter positioning by subsequent measurements of pseudorange from any of the set of reference stations.

36. The way of estimating the position of the mobile communication device, comprising stages, which define the initial state of the filter positioning by means of the approximate position update mentioned filter determine the position of the first pseudorange measurement obtained during the first measurement period from the first subset of the reference stations, and will mention the th first measurement of the pseudorange is not enough to initialize the above-mentioned filter positioning, initialize the filter positioning, using the aforementioned first measurement of the pseudorange and the second pseudorange measurement obtained during the second measurement period from the second subset of the reference stations, and mentioned the second period measurement series comes to the mentioned first measuring period, while the aforementioned second pseudorange measurement permits the use of the above first pseudorange measurement for the determination of the provisions for mobile devices, and using back-propagation for still stored measurements that are associated with the satellite system time for the first subset of the reference stations and the second subset of reference stations to improve the accuracy of the estimated position of a mobile communication device, determine the time for the first subset of the reference stations and the second subset of the reference stations.

37. The method according to p, in which the filter positioning is a Kalman filter.

38. The computer-readable medium that implements a program consisting of instructions by one or more processors of the mobile communication device for providing the aforementioned one or more processors the ability to set the initial state of the filter determine the position through approximately the on position, update filter positioning by first measuring the pseudorange obtained during the first measurement period from the first subset of the reference stations, and mentioned first measurement of the pseudorange is not enough to initialize the above-mentioned filter positioning, and initialization of the filter positioning, using the aforementioned first measurement of the pseudorange and the second pseudorange measurement obtained during the second measurement period from the second subset of the reference stations, and mentioned the second period measurement series comes to the mentioned first measuring period, and in fact the second pseudorange measurement permits the use of the above first pseudorange measurement for the determination of the provisions for mobile devices.

39. Computer-readable media according to § 38, further containing program instructions for determining the time for the first subset of the reference stations and the second subset of reference stations using back-propagation.

40. The mobile communication device containing a first receiver means for receiving signals related to the satellite system positioning, the second receiver means for receiving signals related to the network connections and, the tool processor, made with the ability to communicate with the first and second receivers, and the processor means is able to set the initial state of the filter positioning by means of an approximate position, update the filter positioning by first measuring the pseudorange obtained during the first measurement period from the first subset of reference stations, satellite system positioning, and mentioned first measurement of the pseudorange is not enough to initialize the above-mentioned filter positioning, and initialize the filter positioning, using the aforementioned first measurement of the pseudorange and the second pseudorange measurement obtained during the second measurement period from the second subset of reference stations, satellite system positioning, and mentioned the second period of the measurement series comes to the mentioned first measuring period, while the aforementioned second pseudorange measurement permits the use of the above first pseudorange measurement for the determination of the provisions for mobile devices.



 

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18 cl, 8 dwg

FIELD: physics.

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11 cl, 3 dwg

FIELD: physics.

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7 dwg

FIELD: physics.

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2 cl, 1 dwg

FIELD: physics, navigation.

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38 cl, 6 dwg, 6 tbl

FIELD: physics.

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21 cl, 8 dwg

FIELD: physics, navigation.

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6 cl, 3 dwg

FIELD: physics.

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29 cl, 6 dwg, 5 tbl

FIELD: physics, navigation.

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10 cl, 2 dwg

FIELD: measuring technology.

SUBSTANCE: invention refers to method and device for greater positional accuracy of a terminal with using of a measurement collection. The technical effect is ensured by obtaining an initial position estimation and correction thereof by means of measurements. The correction is enabled by deriving a measurement vector from the initial position estimation. Observation matrixes are formed for measurements. Weight factor matrixes are evaluated. The measurement vector provides a basis to derive a correction vector that is used to correct the initial position estimations.

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30 cl, 13 dwg, 1 tbl

FIELD: physics.

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13 cl, 9 dwg

FIELD: physics.

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5 cl, 2 dwg

FIELD: physics.

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2 cl, 1 dwg

FIELD: radio engineering.

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19 cl, 9 dwg

FIELD: physics.

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EFFECT: increased accuracy of determining location by providing the positioning device with a list of defective signals transmitted by a specific satellite.

29 cl, 6 dwg, 5 tbl

FIELD: physics.

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EFFECT: increased accuracy of determining location by providing the positioning device with a list of defective signals transmitted by a specific satellite.

29 cl, 6 dwg, 5 tbl

FIELD: radio engineering.

SUBSTANCE: there determined is location of reference station in reference station according to signals received in it from complex of satellites, there determined is location of user receiver where user is located on the basis of measurement results received in it and on the basis of modification values calculated in reference station for correction of errors and there calculated is vector of relative position by calculating difference between location of reference station and location of the user.

EFFECT: improving determination accuracy of object location.

19 cl, 9 dwg

FIELD: physics.

SUBSTANCE: proposed method comprises reception of radio signals, analysis of output data of a group of receivers in combination with the data of weather pickups, and generation of navigation data quality signals and corrections to said data for its consumers.

EFFECT: higher probability of detecting intolerable abnormality of navigation satellite signals coming from all operated navigation systems GLONASS, GPS and GALILEO.

2 cl, 1 dwg

FIELD: physics.

SUBSTANCE: navigation system calculates positions which are corrected using complementary filters, each of which excludes data coming from one of the satellites when a fault is detected in one of the satellites. The complementary filter which excludes this satellite becomes the main filter and the other complementary filters are initiated by the new main filter.

EFFECT: reduced computational load in the navigation system.

5 cl, 2 dwg

FIELD: physics.

SUBSTANCE: to receive a radio-navigation signal modulated by a signal containing a BOC (n1,m) component and a BOC (n2,m) component, correlation between the current signal at the reception point and the modulating signal, and correlation between the shifted signal at the reception point and the modulating signal is carried out in a time interval with duration T. The current signal at the reception point is generated in form of a binary signal containing one segment of the BOC (n2,m) signal with overall duration (1-αA)T during the said time interval. The shifted signal at the reception point is generated in form of a binary signal containing one segment of the BOC (n1,m) signal with overall duration αBT during the said time interval.

EFFECT: high accuracy of synchronising a received signal with a reference signal.

13 cl, 9 dwg

FIELD: information technology.

SUBSTANCE: mobile communication device uses a position finding method using a position finding filter, for example a Kalman filter which is initialised by measurements from reference stations, for example satellites and/or base stations, which can be obtained during different periods. Accordingly, the position finding filter can be used to evaluate the position without the need to first obtain at least three different signals during the same measurement period.

EFFECT: high efficiency and reliability of position finding for mobile receivers of a global positioning system in unfavourable signal propagation conditions when coincidence of range measurements may not occur on time.

40 cl, 9 dwg

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