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1. 发明授权

US08199050B2 Hybrid GNSS and TDOA wireless location system 有权
标题翻译：混合GNSS和TDOA无线定位系统
公开(公告)号：US08199050B2
公开(公告)日：2012-06-12
申请号：US13240964
申请日：2011-09-22
申请人： Pete A. Boyer , Ronald Lefever , Rashidus S. Mia , Robert J. Anderson
发明人： Pete A. Boyer , Ronald Lefever , Rashidus S. Mia , Robert J. Anderson
IPC分类号： G01S19/45
CPC分类号： G01S19/46
摘要： A method and apparatus for position determination is provided using measurements from both Global Positioning System (GPS) receivers and terrestrial-based Uplink Time Difference of Arrival (UTDOA) receivers. The method involves the transformation of downlink satellite measurements into equivalent UTDOA measurements by computing comparable cross-correlation coefficients and time differences of arrival with respect to a UTDOA reference station. The method includes a weighting operation whereby the relative weights of the UTDOA measurements and the relative weights of the GPS measurements are adjusted based on a theoretical scaling followed by empirical adjustments. The method further involves the efficient computation and combining of metrics that are used to minimize the weighted error between candidate location solutions and the UTDOA and GPS measurements.
摘要翻译：使用来自全球定位系统（GPS）接收机和基于地面的上行链路到达时差（UTDOA）接收机的测量来提供用于位置确定的方法和装置。该方法涉及通过计算相对于UTDOA参考站的可比互相关系数和到达时间差来将下行链路卫星测量转换成等效的UTDOA测量。该方法包括一个加权操作，其中UTDOA测量的相对权重和GPS测量的相对权重基于经验调整后的理论缩放来调整。该方法还涉及用于最小化候选位置解决方案与UTDOA和GPS测量之间的加权误差的度量的有效计算和组合。

2. 发明申请

US20100039320A1 Hybrid GNSS and TDOA Wireless Location System 有权
标题翻译：混合GNSS和TDOA无线定位系统
公开(公告)号：US20100039320A1
公开(公告)日：2010-02-18
申请号：US12192057
申请日：2008-08-14
申请人： Pete A. Boyer , Ronald LeFever , Rashidus S. Mia , Robert J. Anderson
发明人： Pete A. Boyer , Ronald LeFever , Rashidus S. Mia , Robert J. Anderson
IPC分类号： G01S1/00
CPC分类号： G01S19/46
摘要： A method and apparatus for position determination is provided using measurements from both Global Positioning System (GPS) receivers and terrestrial-based Uplink Time Difference of Arrival (UTDOA) receivers. The method involves the transformation of downlink satellite measurements into equivalent UTDOA measurements by computing comparable cross-correlation coefficients and time differences of arrival with respect to a UTDOA reference station. The method includes a weighting operation whereby the relative weights of the UTDOA measurements and the relative weights of the GPS measurements are adjusted based on a theoretical scaling followed by empirical adjustments. The method further involves the efficient computation and combining of metrics that are used to minimize the weighted error between candidate location solutions and the UTDOA and GPS measurements. This is done efficiently in two dimensions for UTDOA and in three dimensions for GPS measurements by increasing the complexity of searching operations as the optimal location solution is approached. A technique is also described that improves upon a particular location solution by changing the measurement weightings using criteria specific to GPS and UTDOA.
摘要翻译：使用来自全球定位系统（GPS）接收机和基于地面的上行链路到达时差（UTDOA）接收机的测量来提供用于位置确定的方法和装置。该方法涉及通过计算相对于UTDOA参考站的可比互相关系数和到达时间差来将下行链路卫星测量转换成等效的UTDOA测量。该方法包括一个加权操作，其中UTDOA测量的相对权重和GPS测量的相对权重基于经验调整后的理论缩放来调整。该方法还涉及用于最小化候选位置解决方案与UTDOA和GPS测量之间的加权误差的度量的有效计算和组合。对于UTDOA，这在二维方面有效地进行，并且通过在接近最佳位置解决方案时通过增加搜索操作的复杂度来进行GPS测量。还描述了一种技术，其通过使用针对GPS和UTDOA的标准改变测量权重来改进特定位置解决方案。

3. 发明申请

US20120015670A1 Hybrid GNSS and TDOA Wireless Location System 有权
标题翻译：混合GNSS和TDOA无线定位系统
公开(公告)号：US20120015670A1
公开(公告)日：2012-01-19
申请号：US13240964
申请日：2011-09-22
申请人： Pete A. Boyer , Ronald LeFever , Rashidus S. Mia , Robert J. Anderson
发明人： Pete A. Boyer , Ronald LeFever , Rashidus S. Mia , Robert J. Anderson
IPC分类号： H04W64/00
CPC分类号： G01S19/46
摘要： A method and apparatus for position determination is provided using measurements from both Global Positioning System (GPS) receivers and terrestrial-based Uplink Time Difference of Arrival (UTDOA) receivers. The method involves the transformation of downlink satellite measurements into equivalent UTDOA measurements by computing comparable cross-correlation coefficients and time differences of arrival with respect to a UTDOA reference station. The method includes a weighting operation whereby the relative weights of the UTDOA measurements and the relative weights of the GPS measurements are adjusted based on a theoretical scaling followed by empirical adjustments. The method further involves the efficient computation and combining of metrics that are used to minimize the weighted error between candidate location solutions and the UTDOA and GPS measurements.
摘要翻译：使用来自全球定位系统（GPS）接收机和基于地面的上行链路到达时差（UTDOA）接收机的测量来提供用于位置确定的方法和装置。该方法涉及通过计算相对于UTDOA参考站的可比互相关系数和到达时间差来将下行链路卫星测量转换成等效的UTDOA测量。该方法包括一个加权操作，其中UTDOA测量的相对权重和GPS测量的相对权重基于经验调整后的理论缩放来调整。该方法还涉及用于最小化候选位置解决方案与UTDOA和GPS测量之间的加权误差的度量的有效计算和组合。

4. 发明申请

US20120154218A1 Position Estimation Through Iterative Inclusion of Measurement Data 有权
标题翻译：通过迭代包含测量数据进行位置估计
公开(公告)号：US20120154218A1
公开(公告)日：2012-06-21
申请号：US12970594
申请日：2010-12-16
申请人： Rashidus S. Mia , Robert J. Anderson , Pete A. Boyer
发明人： Rashidus S. Mia , Robert J. Anderson , Pete A. Boyer
IPC分类号： G01S3/14
CPC分类号： G01S5/06
摘要： In a wireless location system configured to use a baseline correlation method, an iterative approach to increasing location accuracy is disclosed. The quality of received signals is ordered from highest to lowest and used to calculate an initial location. The initial location is modified using the lower quality signals as constrained by the time and frequency deviation from the initial location and velocity estimate.
摘要翻译：在配置为使用基线相关方法的无线定位系统中，公开了增加定位精度的迭代方法。接收信号的质量从最高到最低排列，用于计算初始位置。使用较低质量信号修改初始位置，受到初始位置和速度估计的时间和频率偏差的约束。

5. 发明授权

US08059028B2 Hybrid GNSS and TDOA wireless location system 有权
标题翻译：混合GNSS和TDOA无线定位系统
公开(公告)号：US08059028B2
公开(公告)日：2011-11-15
申请号：US12192057
申请日：2008-08-14
申请人： Pete A. Boyer , Ronald LeFever , Rashidus S. Mia , Robert J. Anderson
发明人： Pete A. Boyer , Ronald LeFever , Rashidus S. Mia , Robert J. Anderson
IPC分类号： G01S19/46
CPC分类号： G01S19/46
摘要： A method and apparatus for position determination is provided using measurements from both Global Positioning System (GPS) receivers and terrestrial-based Uplink Time Difference of Arrival (UTDOA) receivers. The method involves the transformation of downlink satellite measurements into equivalent UTDOA measurements by computing comparable cross-correlation coefficients and time differences of arrival with respect to a UTDOA reference station. The method includes a weighting operation whereby the relative weights of the UTDOA measurements and the relative weights of the GPS measurements are adjusted based on a theoretical scaling followed by empirical adjustments. The method further involves the efficient computation and combining of metrics that are used to minimize the weighted error between candidate location solutions and the UTDOA and GPS measurements. This is done efficiently in two dimensions for UTDOA and in three dimensions for GPS measurements by increasing the complexity of searching operations as the optimal location solution is approached. A technique is also described that improves upon a particular location solution by changing the measurement weightings using criteria specific to GPS and UTDOA.
摘要翻译：使用来自全球定位系统（GPS）接收机和基于地面的上行链路到达时差（UTDOA）接收机的测量来提供用于位置确定的方法和装置。该方法涉及通过计算相对于UTDOA参考站的可比互相关系数和到达时间差来将下行链路卫星测量转换成等效的UTDOA测量。该方法包括一个加权操作，其中UTDOA测量的相对权重和GPS测量的相对权重基于经验调整后的理论缩放来调整。该方法还涉及用于最小化候选位置解决方案与UTDOA和GPS测量之间的加权误差的度量的有效计算和组合。对于UTDOA，这在二维方面有效地进行，并且通过在接近最佳位置解决方案时通过增加搜索操作的复杂度来进行GPS测量。还描述了一种技术，其通过使用针对GPS和UTDOA的标准改变测量权重来改进特定位置解决方案。

6. 发明授权

US08138976B2 Method for position estimation using generalized error distributions 有权
标题翻译：使用广义误差分布进行位置估计的方法
公开(公告)号：US08138976B2
公开(公告)日：2012-03-20
申请号：US13086916
申请日：2011-04-14
申请人： Pete A. Boyer , Rashidus S. Mia , Edward Joseph Segall
发明人： Pete A. Boyer , Rashidus S. Mia , Edward Joseph Segall
IPC分类号： G01S5/02
CPC分类号： G01S5/10 , G01S5/0278 , G01S5/06
摘要： A method for improving the results of radio location systems that incorporate weighted least squares optimization generalizes the weighted least squares method by using maximum a posteriori (MAP) probability metrics to incorporate characteristics of the specific positioning problem (e.g., UTDOA). Weighted least squares methods are typically used by TDOA and related location systems including TDOA/AOA and TDOA/GPS hybrid systems. The incorporated characteristics include empirical information about TDOA errors and the probability distribution of the mobile position relative to other network elements. A technique is provided for modeling the TDOA error distribution and the a priori mobile position. A method for computing a MAP decision metric is provided using the new probability distribution models. Testing with field data shows that this method yields significant improvement over existing weighted least squares methods.
摘要翻译：一种用于改进结合加权最小二乘优化的无线电定位系统的结果的方法，通过使用最大后验（MAP）概率度量来整合加权最小二乘法来并入特定定位问题（例如UTDOA）的特征。加权最小二乘法通常由TDOA和相关的定位系统（包括TDOA / AOA和TDOA / GPS混合系统）使用。所结合的特征包括关于TDOA误差的经验信息和相对于其他网络元件的移动位置的概率分布。提供了一种用于对TDOA误差分布和先验移动位置进行建模的技术。使用新的概率分布模型提供用于计算MAP决策度量的方法。使用现场数据进行测试显示，该方法比现有加权最小二乘法有显着改善。

7. 发明授权

US08315647B2 Time and power based wireless location detection system 有权
标题翻译：基于时间和功率的无线位置检测系统
公开(公告)号：US08315647B2
公开(公告)日：2012-11-20
申请号：US12980116
申请日：2010-12-28
申请人： Pitchaiah Soma , Jeffrey F. Bull , Rashidus S. Mia , Pete A. Boyer
发明人： Pitchaiah Soma , Jeffrey F. Bull , Rashidus S. Mia , Pete A. Boyer
IPC分类号： H04W24/00
CPC分类号： H04W4/02 , G01S5/08 , H04W64/00
摘要： Disclosed is a method for processing readily available radio network, timing and power information about cellular networks and typical measurements made by the mobile device and network. A probabilistic method is disclosed that uses both time (i.e., range) and power differences with known downlink transmitter antenna characteristics to locate mobiles with accuracy better than cell-ID with ranging, with high capacity, and without the need for field calibration.
摘要翻译：公开了一种用于处理随时可用的无线电网络，关于蜂窝网络的定时和功率信息以及由移动设备和网络进行的典型测量的方法。公开了使用已知下行链路发射机天线特性的时间（即范围）和功率差异的概率方法，其具有比具有高容量的测距更精确的小区ID的移动台，并且不需要场校准。

8. 发明申请

US20110205108A1 Method for Position Estimation Using Generalized Error Distributions 有权
标题翻译：使用广义误差分布的位置估计方法
公开(公告)号：US20110205108A1
公开(公告)日：2011-08-25
申请号：US13086916
申请日：2011-04-14
申请人： Pete A. Boyer , Rashidus S. Mia , Edward J. Segall
发明人： Pete A. Boyer , Rashidus S. Mia , Edward J. Segall
IPC分类号： G01S19/42 , G01S5/02 , G01S1/24
CPC分类号： G01S5/10 , G01S5/0278 , G01S5/06
摘要： A method for improving the results of radio location systems that incorporate weighted least squares optimization generalizes the weighted least squares method by using maximum a posteriori (MAP) probability metrics to incorporate characteristics of the specific positioning problem (e.g., UTDOA). Weighted least squares methods are typically used by TDOA and related location systems including TDOA/AOA and TDOA/GPS hybrid systems. The incorporated characteristics include empirical information about TDOA errors and the probability distribution of the mobile position relative to other network elements. A technique is provided for modeling the TDOA error distribution and the a priori mobile position. A method for computing a MAP decision metric is provided using the new probability distribution models. Testing with field data shows that this method yields significant improvement over existing weighted least squares methods.
摘要翻译：一种用于改进结合加权最小二乘优化的无线电定位系统的结果的方法，通过使用最大后验（MAP）概率度量来整合加权最小二乘法来并入特定定位问题（例如UTDOA）的特征。加权最小二乘法通常由TDOA和相关的定位系统（包括TDOA / AOA和TDOA / GPS混合系统）使用。所结合的特征包括关于TDOA误差的经验信息和相对于其他网络元件的移动位置的概率分布。提供了一种用于对TDOA误差分布和先验移动位置进行建模的技术。使用新的概率分布模型提供用于计算MAP决策度量的方法。使用现场数据进行测试显示，该方法比现有加权最小二乘法有显着改善。

9. 发明申请

US20130130710A1 Combination of Multiple Baselines for Location Estimation 失效
标题翻译：用于定位估计的多个基线的组合
公开(公告)号：US20130130710A1
公开(公告)日：2013-05-23
申请号：US13301640
申请日：2011-11-21
申请人： Pete A. Boyer , Rashidus S. Mia , Matthew L. Ward
发明人： Pete A. Boyer , Rashidus S. Mia , Matthew L. Ward
IPC分类号： H04W24/00
CPC分类号： H04W64/00 , G01S5/0257 , G01S5/04
摘要： A method for combining a plurality of individual location measurements, for use in a wireless location system, includes the following steps. A quality metric for a single location estimate is computed along with individual quality metrics and individual weightings for each individual location measurement. In addition, weighting operations incorporating a quality metric for a single location are performed, and the measurement weights are adjusted based on information about co-location groups; and a decision metric and common bias accounting for multiple reference measurements are computed.
摘要翻译：用于组合用于无线定位系统的多个单独位置测量的方法包括以下步骤。计算单个位置估计的质量度量以及每个单独位置测量的个体质量度量和个体权重。此外，执行结合单个位置的质量度量的加权操作，并且基于关于协同位置组的信息来调整测量权重; 并计算出多个参考测量的决策度量和共同偏差。

10. 发明申请

US20100164781A1 Method for Position Estimation Using Generalized Error Distributions 有权
标题翻译：使用广义误差分布的位置估计方法
公开(公告)号：US20100164781A1
公开(公告)日：2010-07-01
申请号：US12346146
申请日：2008-12-30
申请人： Pete A. Boyer , Rashidus S. Mia , Edward J. Segall
发明人： Pete A. Boyer , Rashidus S. Mia , Edward J. Segall
IPC分类号： G01S7/40
CPC分类号： G01S5/10 , G01S5/0278 , G01S5/06
摘要： A method for improving the results of radio location systems that incorporate weighted least squares optimization generalizes the weighted least squares method by using maximum a posteriori (MAP) probability metrics to incorporate characteristics of the specific positioning problem (e.g., UTDOA). Weighted least squares methods are typically used by TDOA and related location systems including TDOA/AOA and TDOA/GPS hybrid systems. The incorporated characteristics include empirical information about TDOA errors and the probability distribution of the mobile position relative to other network elements. A technique is provided for modeling the TDOA error distribution and the a priori mobile position. A method for computing a MAP decision metric is provided using the new probability distribution models. Testing with field data shows that this method yields significant improvement over existing weighted least squares methods.
摘要翻译：一种用于改进结合加权最小二乘优化的无线电定位系统的结果的方法，通过使用最大后验（MAP）概率度量来整合加权最小二乘法来并入特定定位问题（例如UTDOA）的特征。加权最小二乘法通常由TDOA和相关的定位系统（包括TDOA / AOA和TDOA / GPS混合系统）使用。所结合的特征包括关于TDOA误差的经验信息和相对于其他网络元件的移动位置的概率分布。提供了一种用于对TDOA误差分布和先验移动位置进行建模的技术。使用新的概率分布模型提供用于计算MAP决策度量的方法。使用现场数据进行测试显示，该方法比现有加权最小二乘法有显着改善。

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