U.S. patent application number 12/485595 was filed with the patent office on 2009-12-17 for methods and systems for improving the accuracy of expected error estimation in location determinations using a hybrid cellular and wlan positioning system.
This patent application is currently assigned to Skyhook Wireless, Inc.. Invention is credited to Farshid Alizadeh-Shabdiz.
Application Number | 20090312036 12/485595 |
Document ID | / |
Family ID | 41414718 |
Filed Date | 2009-12-17 |
United States Patent
Application |
20090312036 |
Kind Code |
A1 |
Alizadeh-Shabdiz; Farshid |
December 17, 2009 |
METHODS AND SYSTEMS FOR IMPROVING THE ACCURACY OF EXPECTED ERROR
ESTIMATION IN LOCATION DETERMINATIONS USING A HYBRID CELLULAR AND
WLAN POSITIONING SYSTEM
Abstract
The present disclosure relates to systems and methods for
improving the accuracy of expected error estimations in hybrid
cellular and WLAN location determination. In some embodiments, the
method can include providing a WLAN based location estimate and an
expected error estimate for the WLAN based location estimate,
providing a cellular based location estimate and an expected error
estimate for the cellular based location estimate, and determining
the expected error of the location determination by evaluating the
consistency of the cellular based location estimate to the WLAN
based location estimate. In some embodiments, the location estimate
with the lower expected error can be selected as the location
determination of the WLAN and cellular enabled device. In some
embodiments, the consistency of the estimates can include the
distance between the cellular based location estimate and the WLAN
based location estimate.
Inventors: |
Alizadeh-Shabdiz; Farshid;
(Wayland, MA) |
Correspondence
Address: |
WILMERHALE/BOSTON
60 STATE STREET
BOSTON
MA
02109
US
|
Assignee: |
Skyhook Wireless, Inc.
Boston
MA
|
Family ID: |
41414718 |
Appl. No.: |
12/485595 |
Filed: |
June 16, 2009 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61061853 |
Jun 16, 2008 |
|
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Current U.S.
Class: |
455/456.1 |
Current CPC
Class: |
G01S 5/0244 20200501;
G01S 5/0252 20130101; H04W 64/00 20130101; G01S 5/0263
20130101 |
Class at
Publication: |
455/456.1 |
International
Class: |
H04W 24/00 20090101
H04W024/00 |
Claims
1. A method of determining an expected error in a location
determination of a WLAN and cellular enabled device, the method
comprising: providing a WLAN based location estimate and an
expected error estimate for the WLAN based location estimate;
providing cellular positioning measurements from at least one cell
tower; and determining the expected error of the location
determination by evaluating the consistency of the cellular
positioning system measurements to the WLAN based location
estimate.
2. The method of claim 1, wherein consistent measurements between
the WLAN based location estimate and the cellular positioning
measurements from at least one cell tower result in a lower
expected error in the location determination.
3. The method of claim 1, wherein inconsistent measurements between
the WLAN based location estimate and the cellular positioning
measurements from at least one cell tower result in a higher
expected error in the location determination.
4. The method of claim 1, wherein the consistency comprises the
distance between the WLAN positioning system location estimation
and the satellite positioning measurements from at least one cell
tower.
5. A method of determining an expected error in a location
determination of a WLAN and cellular enabled device, the method
comprising: providing a WLAN based location estimate and an
expected error estimate for the WLAN based location estimate;
providing a cellular based location estimate and an expected error
estimate for the cellular based location estimate; and determining
the expected error of the location determination by evaluating the
consistency of the cellular based location estimate to the WLAN
based location estimate.
6. The method of claim 5, wherein the location estimate with the
lower expected error is selected as the location determination of
the WLAN and cellular enabled device.
7. The method of claim 5, wherein determining the expected error of
the location determination comprises comparing the WLAN based
location estimate and the cellular based location estimate.
8. The method of claim 5, wherein consistent measurements between
the WLAN based location estimate and the cellular based location
estimate result in a lower expected error in the location
determination.
9. The method of claim 5, wherein inconsistent measurements between
the WLAN based location estimate and the cellular based location
estimate result in a higher expected error in the location
determination.
10. The method of claim 5, wherein the consistency of the estimates
comprises the distance between the cellular based location estimate
and the WLAN based location estimate.
11. A system for determining an expected error in a location
determination of a WLAN and cellular enabled device, the system
comprising: a positioning module comprising: a WLAN module for
receiving information from one or more WLAN access points to
provide a WLAN based location estimate and an expected error for
the WLAN based location estimate; and a cellular positioning module
for obtaining cellular positioning system measurements from at
least one cell tower; logic located in the positioning module for
determining the expected error of the location determination by
evaluating the consistency of the cellular positioning system
measurements to the WLAN based location estimate.
12. The method of system 11, wherein consistent measurements
between the WLAN based location estimate and the cellular
positioning measurements from at least one cell tower result in a
lower expected error in the location determination.
13. The method of system 11, wherein inconsistent measurements
between the WLAN based location estimate and the cellular
positioning measurements from at least one cell tower result in a
higher expected error in the location determination.
14. The method of system 11, wherein the consistency comprises the
distance between the WLAN positioning system location estimation
and the satellite positioning measurements from at least one cell
tower.
15. A system for determining an expected error in a location
determination of a WLAN and cellular enabled device, the system
comprising: a positioning module comprising: a WLAN module for
receiving information from one or more WLAN access points to
provide a WLAN based location estimate and an expected error for
the WLAN based location estimate; and a cellular positioning module
for receiving information from at least one cell tower to provide a
cellular based location estimate and an expected error estimate for
the cellular based location estimate; logic located in the
positioning module for determining the expected error of the
location determination by evaluating the consistency of the
cellular based location estimate to the WLAN based location
estimate.
16. The system of claim 15, wherein the location estimate with the
lower expected error is selected as the location determination of
the WLAN and cellular enabled device.
17. The system of claim 15, wherein determining the expected error
of the location determination comprises comparing the WLAN based
location estimate and the cellular based location estimate.
18. The system of claim 15, wherein consistent estimates between
the WLAN based location estimate and the cellular based location
estimate result in a lower expected error in the location
determination.
19. The system of claim 15, wherein inconsistent estimates between
the WLAN based location estimate and the cellular based location
estimate result in a higher expected error in the location
determination.
20. The system of claim 15, wherein the consistency of the
estimates comprises the distance between the cellular based
location estimate and the WLAN based location estimate.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit under 35 U.S.C.
.sctn.119(e) of U.S. Provisional Application No. 61/061,853, filed
on Jun. 16, 2008, entitled "Integrated WLAN-Based and
Cellular-Based Positioning System," which is herein incorporated by
reference in its entirety.
[0002] This application is related to the following references:
[0003] U.S. Patent Application Ser. No. (TBA), filed concurrently
herewith and entitled "Methods and Systems for Determining Location
Using a Cellular and WLAN Positioning System by Selecting the Best
WLAN PS Solution;" and
[0004] U.S. Patent Application Ser. No. (TBA), filed concurrently
herewith and entitled "Methods and Systems for Determining Location
Using a Cellular and WLAN Positioning System by Selecting the Best
Cellular Positioning System Solution."
BACKGROUND
[0005] 1. Field
[0006] The disclosure generally relates to hybrid positioning
systems and, more specifically, to methods of integrating a
wireless local area network (WLAN)-based positioning system (WLAN
PS) and a cellular-based positioning system (CPS) to improve the
accuracy of location estimates, increase availability of the
positioning service to more users, and also to improve estimation
of the expected error in a user's position estimate.
[0007] 2. Description of Related Art
[0008] In recent years the number of mobile computing devices has
increased dramatically, creating the need for more advanced mobile
and wireless services. Mobile email, walkie-talkie services,
multi-player gaming, and call-following are examples of how new
applications are emerging for mobile devices. In addition, users
are beginning to demand/seek applications that not only utilize
their current location but also share that location information
with others. Parents wish to keep track of their children,
supervisors need to track the locations of the company's delivery
vehicles, and a business traveler looks to find the nearest
pharmacy to pick up a prescription. All of these examples require
an individual to know his own current location or the location of
someone else. To date, we all rely on asking for directions,
calling someone to ask their whereabouts, or having workers
check-in from time to time to report their positions.
[0009] Location-based services are an emerging area of mobile
applications that leverage the ability of new devices to calculate
their current geographic positions and report them to a user or to
a service. Examples of these services range from obtaining local
weather, traffic updates, and driving directions to child trackers,
buddy finders, and urban concierge services. These new
location-sensitive devices rely on a variety of technologies that
all use the same general concept. By measuring radio signals
originating from known reference points, these devices can
mathematically calculate the user's position relative to these
reference points. Each of these approaches has its strengths and
weaknesses depending upon the nature of the signals and
measurements and the positioning algorithms employed.
[0010] Cellular-based positioning uses cell towers to determine the
location of a mobile or user device. Cell towers are identified
with a unique identifier in each cellular network in each country.
Herein, the unique identifies of cell towers is referred to as cell
ID. The cell IDs can be stored in a reference database, accessible
by the mobile or user device. In the reference database, the cell
ID can be used to link that cell ID to a previously determined
location for the cell tower having that cell ID, where the location
is also stored in the database. CPS can be based on received signal
strength (RSS), time of arrival (ToA), or time difference of
arrival (TDOA) from cell towers. Cellular-based positioning systems
also can be based on the nearest neighbor technique, in which the
entire service area is surveyed and a database of reception
characteristics of points in the service area is constructed. The
location of the survey points also can be logged, for example, by
using a global positioning system (GPS). By comparing the reception
characteristics of the mobile device with the surveyed points, the
location of the mobile device can be determined. CPS can determine
the position of a mobile device through several methods, including
received signal strength and time of arrival.
[0011] CPS location determinations based on received signal
strength use the received power of signals received from cell
towers and triangulate the position of the mobile device based upon
the received power values. The CPS based on received signal
strength is not as accurate a system as compared to WLAN PS. The
accuracy of the CPS systems using received signal strength is on
the order of hundred meters, while the accuracy of WLAN PS is on
the order of tens of meters.
[0012] CPS location determinations based on TOA measure the time
that cellular radio wave travels to get to the mobile device from
the cell tower and calculates the distance from the mobile device
to the cell towers based on that time. If travel time of the
cellular radio wave is measured correctly, the calculated distance
from the cell towers can be accurate as WLAN PS, for example, up to
ten meters. However, if the travel time is not measured correctly,
the error in the location estimate can be higher than WLAN PS, for
example, on the order of hundreds of meters up to a kilometer. The
TOA method's accuracy depends on estimating the time of arrival of
the cellular radio wave (as the name also indicates). In a normal
operational environment of cellular network, the received signal is
subject to multipath effect, which means the cellular receiver (of
the mobile receiver) receives multiple copies of the transmitted
signal reflected from the surroundings of the mobile device. These
copies of the transmitted signal can arrive at slightly different
times, and the selection of the signal which represents the
distance between the mobile device and cell tower (or is the best
estimate of distance) can be a challenge and an important part of
the design of TOA based CPS. Further, there can be an option to
consider all copies of the received signal and calculate distance
based on all of them. In this case, there will be a set of
distances (between the mobile device and cell tower) which will be
passed to a trilateration module in the CPS (discussed herein). The
trilateration module considers all the distance measurements from
all the cell towers and finds the most likely location of the
mobile device.
[0013] In the discussion herein, raw CPS measurements from a cell
tower are generally intended to mean received signal strength (RSS)
and/or times of arrival (TOAs) and/or time differences of arrival
(TDOAs). References to cellular data are generally intended to mean
the unique address of the cell tower (like cell ID), one or more
record(s) of its, one or more power profile(s), and other
attributes based on previous measurements of that cell tower.
References to a CPS equation are intended to mean a mathematical
equation relating the CPS measurements and data to the location of
the mobile device.
[0014] WLAN-based positioning is a technology which uses WLAN
access points to determine the location of mobile users. Metro-wide
WLAN-based positioning systems have been explored by a several
research labs. The most important research efforts in this area
have been conducted by the PlaceLab (www.placelab.com, a project
sponsored by Microsoft and Intel); the University of California,
San Diego ActiveCampus project (ActiveCampus--Sustaining
Educational Communities through Mobile Technology, technical report
#CS2002-0714); and the MIT campus-wide location system. There is
only one commercial metropolitan WLAN-based positioning system in
the market at the time of this writing, and it is referred to
herein as the WPS (WiFi positioning system) product of Skyhook
Wireless, Inc. (www.skyhookwireless.com).
[0015] FIG. 1 depicts a conventional WLAN-based positioning system
based on WiFi signals. The positioning system includes positioning
software 103 that resides on a mobile or user device 101.
Throughout a particular target geographical area, there are a
plurality of fixed wireless access points 102 that transmit
information using control/common channel signals. The device 101
monitors these transmissions. Each access point contains a unique
hardware identifier known as a MAC address. The client positioning
software 103 receives transmissions from the 802.11 access points
in its range and calculates the geographic location of the
computing device using the characteristics of the radio signals.
Those characteristics include the MAC addresses, the unique
identifiers of the 802.11 access points, the Time of Arrival (TOA)
of the signals, and the signal strength at the client device 101.
The client software 103 compares the observed 802.11 access points
with those in its reference database 104 of access points. This
reference database 104 may or may not reside in the device 101. The
reference database 104 contains the calculated geographic locations
and power profiles of all access points the system has collected. A
power profile may be generated from a collection of measurements of
the signal power or signal TOA at various locations. Using these
known locations or power profiles, the client software 103
calculates the position of the user device 101 relative to the
known positions of the access points 102 and determines the
device's 101 absolute geographic coordinates in the form of
latitude and longitude or latitude, longitude, and altitude. These
readings then can be fed to location-based applications such as
friend finders, local search web sites, fleet management systems,
and an E911 service.
[0016] In the discussion herein, raw WLAN measurements from an
access point are generally intended to mean received signal
strength (RSS) and/or times of arrival (TOAs) and/or time
differences of arrival (TDOAs). References to data are generally
intended to mean the MAC address, one or more record(s) of it, one
or more power profile(s), and other attributes based on previous
measurements of that access point. References to a WLAN PS equation
are intended to mean a mathematical equation relating the WLAN PS
measurements and data to the location of the mobile device.
[0017] A WLAN-based positioning systems can be used indoors or
outdoors. The only requirement is presence of WLAN access points in
the vicinity of the user. The WLAN-based position systems can be
leveraged using existing off-the-shelf WLAN cards without any
modification other than to employ logic to estimate position.
[0018] FIG. 2 illustrates a conventional way of integrating WLAN PS
and CPS, which consists of a WLAN PS 201 and a CPS 206 and a
location combining logic 210.
[0019] WLAN PS 201 and CPS 206 are stand-alone systems, and each
can operate independently of the other system. Thus, the result of
each system can be calculated independent of the other system. The
estimated location along with the expected error estimation of each
system can be fed to the location combining logic 210. The expected
error estimation is also referred to as HPE (horizontal positioning
error) herein. The nominal rate of location update of CPS 206 and
WLAN PS 201 is once a second. The location combining logic 210
combines the location estimates calculated in the same second by
both systems.
[0020] WLAN PS 201 is a conventional system which estimates the
location of a mobile device by using WLAN access points (WLAN AP).
WLAN PS 201 can include a scanner of WLAN APs 202, a device to
select WLAN APs 203, a trilateration module 204, and HPE estimation
device 205.
[0021] WLAN scanner 202 detects WLAN APs surrounding the mobile
device by detecting the received power (RSS, received signal
strength) and/or time of arrival (TOA) of the signal. Different
methods can be used to detect WLAN APs including active scanning,
passive scanning, or combination of passive and active
scanning.
[0022] The select WLAN APs device 203 selects the best set of WLAN
APs to estimate location of the mobile device. For example, if ten
WLAN APs are detected and one AP is located in Chicago and the
others are located in Boston, without any other information, the
Boston APs are selected. This is an indication that Chicago AP has
been moved to Boston. In the conventional system, the best set of
WLAN APs is selected based on geographical distribution of WLAN
APs, in addition to corresponding parameters of WLAN APs, including
received signal strength, signal to noise ratio, and the
probability of being moved.
[0023] Trilateration module 204 uses WLAN APs and corresponding
measurements and characteristics to estimate location of the mobile
device. Received signal strength or TOA measurements from a WLAN AP
are used to estimate distance of the mobile device to the WLAN AP.
The aggregation of distance estimates from different WLAN APs with
known location is used to calculate location of the mobile device.
Trilateration 204 also can use a method which is called nearest
neighbor, in which a location with a power profile similar or
closest to the power reading of the mobile device is reported as
the final location of the mobile device. The power profile of each
WLAN AP or entire coverage area can be found in the calibration
phase of the system by detailed survey of the coverage area.
[0024] HPE estimation device 205 is a module which estimates the
expected error of the position estimate of the mobile device. The
HPE or Horizontal Positioning Error is calculated based on
previously scanned APs and their characteristics and also
characteristics of the received signal as it was explained in
co-pending Skyhook Wireless application Ser. No. 11/625,450
entitled "System and Method for Estimating Positioning Error Within
a WLAN Based Positioning System," the entire disclosure of which is
hereby incorporated by reference.
[0025] CPS system 206 can include a cellular scanner 207,
trilateration device 208, and the CPS HPE estimation module
209.
[0026] The cellular scanner 207 receives signals from one or more
cell towers in view of the device, decodes the received signals,
and measures received signal strength (RSS) and/or time of arrival
(TOA) and/or time difference of arrival (TDOA) of the signals based
on the approach taken in the trilateration module 208.
[0027] The trilateration device 208 uses measurements from cell
towers to estimate the location of the mobile device.
[0028] HPE estimation device 209 estimates the expected error of
the estimated location. The HPE estimation device 209 is
conventional and calculates expected error based on geometry of the
cell towers and signal quality of the received signal from cell
towers, for example C/N (carrier to noise ratio).
[0029] Location combining logic 210 receives simultaneous location
estimates and HPE estimates from WLAN PS 201 and CPS 206.
Simultaneous location estimations include estimations within one
second of each other. The location combining logic 210 reports one
estimated location by selecting one WLAN or CPS estimate or by
linearly combining them. For example, location combining logic
might select the WLAN PS 201 estimate. Otherwise, it may report the
CPS estimated location, it might report the final location based on
an expected error, or it might report a weighted average of the
estimated locations by both systems according to the HPE.
SUMMARY
[0030] The disclosed subject matter generally relates to hybrid
positioning systems and, more specifically, to methods of
integrating wireless local area network (WLAN)-based positioning
system (WLAN PS) and cellular-based positioning system (CPS) to
improve accuracy of location estimates, increase availability of
the positioning service to more users, and improve estimation of
the expected error in a user's position estimate.
[0031] Embodiments provide systems and methods of integrating a
WLAN-based positioning system (WLAN PS) and a cellular-based
positioning system (CPS). An integrated system refers herein to a
system that combines the information and measurements from both
systems in order to increase the availability of the positioning
service to more users to improve the accuracy of the positioning
estimates, as compared to each individual system working
independently. The integration can occur at different levels from a
high-level combination of location estimation provided by both
systems to the lowest level of integration of raw measurements from
both systems and combining them to find the best estimate of the
location of a user or a mobile device. The integration also
includes using information from one system to assist the other
system so as to increase the accuracy of the various estimates.
[0032] The present disclosure relates to systems and methods for
improving the accuracy of expected error estimations in hybrid
cellular and WLAN location determination. In one embodiment, the
method can include providing a WLAN based location estimate and an
expected error estimate for the WLAN based location estimate,
providing cellular positioning measurements from at least one cell
tower, and determining the expected error of the location
determination by evaluating the consistency of the cellular
positioning system measurements to the WLAN based location
estimate.
[0033] In some embodiments, consistent measurements between the
WLAN based location estimate and the cellular positioning
measurements from at least one cell tower can result in a lower
expected error in the location determination.
[0034] In some embodiments, inconsistent measurements between the
WLAN based location estimate and the cellular positioning
measurements from at least one cell tower can result in a higher
expected error in the location determination.
[0035] In some embodiments, the consistency can include the
distance between the WLAN positioning system location estimation
and the satellite positioning measurements from at least one cell
tower.
[0036] In some embodiments, the method can include providing a WLAN
based location estimate and an expected error estimate for the WLAN
based location estimate, providing a cellular based location
estimate and an expected error estimate for the cellular based
location estimate, and determining the expected error of the
location determination by evaluating the consistency of the
cellular based location estimate to the WLAN based location
estimate.
[0037] In some embodiments, the location estimate with the lower
expected error can be selected as the location determination of the
WLAN and cellular enabled device.
[0038] In some embodiments, determining the expected error of the
location determination can include comparing the WLAN based
location estimate and the cellular based location estimate.
[0039] In some embodiments, consistent measurements between the
WLAN based location estimate and the cellular based location
estimate can result in a lower expected error in the location
determination.
[0040] In some embodiments, inconsistent measurements between the
WLAN based location estimate and the cellular based location
estimate can result in a higher expected error in the location
determination.
[0041] In some embodiments, the consistency of the estimates can
include the distance between the cellular based location estimate
and the WLAN based location estimate.
[0042] In some embodiments, the system can include a positioning
module having a WLAN module for receiving information from one or
more WLAN access points to provide a WLAN based location estimate
and an expected error for the WLAN based location estimate and a
cellular positioning module for obtaining cellular positioning
system measurements from at least one cell tower, and logic located
in the positioning module for determining the expected error of the
location determination by evaluating the consistency of the
cellular positioning system measurements to the WLAN based location
estimate.
[0043] In some embodiments, the system can include a positioning
module having a WLAN module for receiving information from one or
more WLAN access points to provide a WLAN based location estimate
and an expected error for the WLAN based location estimate and a
cellular positioning module for receiving information from at least
one cell tower to provide a cellular based location estimate and an
expected error estimate for the cellular based location estimate,
and logic located in the positioning module for determining the
expected error of the location determination by evaluating the
consistency of the cellular based location estimate to the WLAN
based location estimate.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
[0044] For a more complete understanding of various embodiments of
the present invention, reference is now made to the following
descriptions taken in connection with the accompanying drawings in
which:
[0045] FIG. 1 illustrates a high-level architecture of a WLAN
positioning system;
[0046] FIG. 2 illustrates a system for a conventional system for
integrating WLAN PS and CPS;
[0047] FIG. 3 illustrates a system for providing a WLAN PS and CPS
integrated location solution, according to some embodiments of the
disclosed subject matter;
[0048] FIG. 4A illustrates an example of selecting a solution
between possible WLAN PS solutions using a CPS location estimate,
according to some embodiments of the disclosed subject matter;
[0049] FIG. 4B illustrates an example of selecting a detecting
moved access points/access point clusters or cell tower IDs,
according to some embodiments of the disclosed subject matter;
[0050] FIG. 5 illustrates a system for integrating a WLAN PS and a
CPS in which a CPS location estimate is provided to the WLAN PS to
select the best solution, according to some embodiments of the
disclosed subject matter;
[0051] FIG. 6 illustrates an example of selecting a solution
between possible CPS solutions based on a WLAN PS location
estimate, according to some embodiments of the disclosed subject
matter;
[0052] FIG. 7 illustrates a system for integrating a WLAN PS and a
CPS and using a WLAN PS location estimate to select a CPS location
estimate among possible CPS possible location estimates, according
to some embodiments of the disclosed subject matter;
[0053] FIG. 8 illustrates a system for examining the location
estimate and uncertainty provided by a WLAN PS against a CPS
location measurements in order to find the best estimate of the
location of a mobile device, according to some embodiments of the
disclosed subject matter;
[0054] FIG. 9 illustrates an example for increasing the accuracy of
an estimation of expected error by using CPS and WLAN PS
information, according to some embodiments of the disclosed subject
matter;
[0055] FIG. 10 illustrates a system for increasing the accuracy of
an estimation of expected error by using CPS and WLAN PS
information, according to some embodiments of the disclosed subject
matter.
DETAILED DESCRIPTION OF THE INVENTION
[0056] Embodiments of the disclosed subject matter provide a method
of integrating a WLAN-based positioning system (WLAN PS) and a
cellular-based positioning system (CPS) to create a hybrid
positioning system. An integrated or hybrid system refers to a
system which inputs the measurements and location estimates from
one system to another system before location estimate to improve
the accuracy of the positioning and velocity and bearing estimates,
and the accuracy of expected error estimate, as compared to each
individual system working independently. The method of integrating
a WLAN PS and CPS to create a hybrid positioning system can add CPS
final estimates as another input to WLAN PS and WLAN PS final
estimations as another input to CPS. In one embodiment, raw CPS
measurements and raw WLAN PS measurements also can be integrated to
select the best set of measurement to increase the accuracy of
position estimate and HPE.
[0057] FIG. 3 illustrates a block diagram of a hybrid system of a
WLAN PS 301 and a CPS 306.
[0058] The CPS 306 functions in a similar manner as the CPS 206
shown in FIG. 2 except that it is configured to receive a WLAN PS
trilateration output 313 and a location estimation output 314 from
the WLAN PS 301 and also to provide CPS trilateration 311 results
to the WLAN PS. The integration of the WLAN PS trilateration and
location estimation results with CPS 306 changes the design of CPS
trilateration device 308 and HPE estimation device 309. A
conventional CPS might need to be modified to provide the
trilateration device's 308 results 311 outside of the CPS
system.
[0059] This design change of CPS 306 after receiving WLAN PS
information 313, 314 is discussed in more detail herein.
[0060] The WLAN PS 301 functions in a similar manner as the WLAN PS
201 shown in FIG. 2 except that it is configured to receive CPS
trilateration output 311 and CPS location estimation 312 and to
provide WLAN PS trilateration results 313. The integration of the
CPS trilateration and location estimation results with the WLAN PS
301 changes the design of WLAN APs selection device 303,
trilateration device 304, and HPE estimation device 305.
[0061] This design change of WLAN PS 301 after receiving CPS
information 311 is discussed in more detail herein.
[0062] Under one embodiment, the disclosed method integrates a
WLAN-based positioning system (WLAN PS) and a cellular positioning
system (CPS) in which the WLAN PS provides a set of possible
locations of a mobile device, and the CPS provides a location
estimate of the mobile device. Among the possible WLAN PS location
estimates, the WLAN location estimations which fit the CPS location
estimate the best are selected as the final set of position
estimates for the WLAN PS and CPS enabled mobile device.
[0063] In WLAN PS, the mobile device can detect one or more WLAN
access points (WLAN APs), which can be used as reference points to
locate the mobile device. The WLAN access points are generally
randomly distributed and may move over time. Therefore, the WLAN
positioning system applies a clustering algorithm to identify all
the clusters of WLAN access points that are detected by the end
user. Once the APs have been identified and grouped into clusters,
the location of the device can be determined by using either each
AP separately or by using the clusters of APs.
[0064] A cluster of WLAN access points is a set of WLAN access
points where each access point is in the coverage area of each of
the other access points. WLAN access points which are farther than
a normal coverage of an access point from the cluster are
considered to be part of a new cluster.
[0065] Once the APs have been identified and grouped into clusters,
the location of each cluster of WLAN APs is estimated. The location
of each cluster can be considered a possible location of the mobile
device. Additionally, the CPS can provide a position estimate for
the mobile device using cellular measurements from at least one
cell tower. By combining WLAN PS and CPS position estimates, WLAN
PS possible locations can be rejected if the distance from the WLAN
PS possible locations to the CPS location estimate is an order of
magnitude higher than accuracy of the CPS, where an exemplary
accuracy of a CPS can be a few hundred meters. For example, if the
distance between the CPS location estimate and a WLAN PS cluster is
tens of kilometers, that cluster of WLAN APs can be rejected. In
some embodiments, the location of individual APs, instead of
clusters of APs, also can be examined against the CPS location
estimate. For example, if two clusters of APs are pointing to
Boston, one cluster of APs is pointing to Chicago and the CPS
location estimate is in Boston, one of the APs pointing to Chicago
or the cluster of APs pointing to Chicago can be examined against
the CPS location estimate.
[0066] The final location can be calculated based on the remaining
WLAN possible solutions, i.e., the remaining clusters of WLAN
APs.
[0067] For example, FIG. 4A shows a WLAN PS 401, which consists of
five WLAN access points 404. The WLAN access points form two
clusters in this example, a first cluster 402 and a second cluster
403. Each cluster can be used to estimate the location of the user
device. CPS also detects two cell towers 405 and estimates a
location for the mobile device 406.
[0068] If distance between possible solutions of the WLAN PS is on
an order of magnitude higher than the coverage area of the detected
cell towers in CPS, the location estimate or solution 406 of the
CPS can be used to select or eliminate WLAN AP clusters.
[0069] In this example, let us assume that cluster 402 and 403 are
pointing to different cities like Boston and Seattle. The CPS
location estimate 406 is consistent with cluster 402, and cluster
403 is rejected. Therefore, cluster 402 is selected to calculate
the user location. In some instances, cluster 403 can be assumed to
be moved or relocated to Boston. Because we know that the user's
location is in Boston, we can assume that the user's device cannot
be detecting using an AP in Chicago. Therefore, the cluster 403 can
be assumed to have been relocated to Boston; otherwise, the user in
Boston would not be detecting that access point. Further, the
locations of the WLAN APs are tracked in one or more reference
databases to which the user device has access. The user device
accessed the reference database to determine that the WLAN APs
reference location is Chicago. Because the user device has
determined that the WLAN AP or cluster of WLAN APs have moved, the
user device can send a message to the reference database to update
the database to reflect that the new location of that WLAN AP or
cluster of APs is Boston. The reference database can then be
updated to reflect that new location. (For more details on
detecting moved access points, please see U.S. patent application
Ser. No. 11/359,154, entitled "Continuous Data Optimization of
Moved Access Points in Positioning Systems," filed Feb. 22, 2006;,
the entire contents are hereby incorporated by reference.)
Therefore, cluster 403 WLAN APs can be identified as moved in the
reference database, and their location is updated. Therefore,
clusters of WLAN APs which are not referring to the same general
location as the CPS estimated location can be considered to be
incorrect. In other words, the associated location of WLAN APs of
those clusters can be considered to be inaccurate or stale, that
is, the WLAN AP may have moved.
[0070] Under some embodiments, the disclosed method integrates a
WLAN-based positioning system (WLAN PS) and a cellular positioning
system (CPS) in which the WLAN PS provides one location estimate of
a mobile device, and the CPS provides one location estimate of the
mobile device, and the consistency between the WLAN PS and the CPS
location estimates is used to choose a WLAN PS location estimate.
Note that there is only one location estimation reported by each
WLAN PS and CPS.
[0071] FIG. 4B illustrates an integrated solution of WLAN PS and
CPS, in which WLAN PS 401 estimates a location 410 based on
detected WLAN APs 412, which is far from CPS cell tower 414
location estimate 416. For example, if the WLAN PS locates the
mobile device in Boston and the CPS locates the mobile device in
Chicago, the discrepancy between WLAN PS and CPS location estimates
indicate that either WLAN AP 412 has moved or CPS location estimate
is not correct and the detected cell IDs have moved.
[0072] The WLAN PS can detect one or more WLAN APs. The WLAN PS
extracts associated information about each detected WLAN AP from a
reference database. The known WLAN APs (i.e., WLAN APs for which
the reference database has location information) are used to locate
the mobile device.
[0073] CPS also can detect one or more cell IDs of cell towers and
extracts cell information for the detected cell IDs, for example,
location and the coverage size of the cell tower associated with
that cell ID. The detected cell IDs can be used to estimate the
location of the mobile device. The estimated location by CPS can be
used to verify the general location of the WLAN PS estimated
location.
[0074] If the CPS and WLAN PS location estimates are pointing to
the same general location (WLAN PS location estimate is within the
expected accuracy of the CPS location estimate), the WLAN PS
estimated location can be reported as final location of the mobile
device. If the CPS and WLAN PS location estimates are pointing to
locations that not in the same general location, this can indicate
that the WLAN APs have moved or the associated location of the
detected cell IDs are not correct.
[0075] Further, if a confidence of one of the location estimates
reported by WLAN PS or CPS is high and it is higher than the other
reported location, the estimated location with the highest level
confidence is reported as the final estimated location of the
mobile device. For example, if the latest locations of cell IDs are
provided by the cellular carrier and most probably are correct, the
confidence to the location associated to cell IDs is very high.
Then, the location estimates WLAN system can be assumed to be
incorrect. The discrepancy between the measurements can be reported
back to the corresponding reference database. The WLAN AP or AP
cluster locations can be updated in the corresponding reference
database. If the confidence of either location is at the same
level, then no location may be reported. This determination can be
reported back to corresponding reference databases as an indication
of possibility of WLAN AP movement and also a change of cell ID
associated location information.
[0076] WLAN AP movement is estimated to occur more often than a
change in the location of cell IDs. Therefore, in the case that
WLAN PS and CPS location estimates are not consistent and distance
between the estimated locations is an order of magnitude higher
than the coverage of detected cell towers, the CPS location
estimate is considered as the final location estimate of the mobile
device, and it can be assumed that detected WLAN APs were moved to
the new location.
[0077] If it is detected that a WLAN AP was moved, the new location
in which the WLAN AP was detected can be used to correct and update
location of the WLAN AP in the reference database.
[0078] FIG. 5 illustrates block diagram of integrated solution of
CPS and WLAN PS. CPS 506 can be a standard, off-the-shelf device as
discussed in FIG. 2. The CPS location estimate result 312 is
directed to selecting WLAN APs module 503 and trilateration device
504.
[0079] The WLAN APs selection devices 503 received the data from
WLAN scanner 202 and the CPS location estimate as an input. The
WLAN APs selection device 503 clusters WLAN APs based on the
distance between the access points and it results in one or more
cluster. The clusters are used in the trilateration device 504 to
find possible location estimates of the mobile device. The WLAN PS
location estimates based on clusters are selected or rejected based
on the cluster distance from the CPS location estimate.
[0080] Under one embodiment, WLAN PS is used to detect and correct
when the cell ID associated location is not correct and the cell ID
has been re-assigned to a cell tower with a different location.
Cell towers are subject to reconfiguration and change of their cell
IDs. In a cellular network, cell towers less often physically move
and are more often reconfigured and the cell IDs are re-assigned.
However, cellular network reconfiguration happens rarely. When
cellular networks are reconfigured, cell IDs may be re-assigned to
another cell tower and the other cell tower may not be in the same
area as the original cell tower. This can result in an incorrect
location association for some cell IDs. If a mobile device detects
a set of reconfigured cell towers that still refer to their old
configuration with the old location of the towers, the mobile
device may find that the detected cell towers are an order of
magnitude farther away than the normal coverage of a cell tower.
The normal coverage of a cell tower is between couple of hundred
meters to couple of kilometers, but coverage of any particular cell
tower can be estimated based on the density of cell towers or by
site survey of the area. Therefore, using different cell towers can
result to different location estimates. Thus, there are cases that
the mobile device may detect one or more cell towers with cell IDs
whose associated locations are not consistent with their recorded
location in a reference database. In other words, the associated
location of cell IDs point to different locations.
[0081] For example, if a mobile device detects five towers, two
towers may point to Chicago and three others may point to Boston.
In this case, the WLAN PS estimated location of the mobile device
can be used to resolve the discrepancy between cell IDs and
location. In the example, if WLAN PS location estimate is in
Boston, it can be concluded that the cell IDs pointing to Boston
are correct and cell IDs pointing to Chicago are not correct. Thus,
the WLAN PS location estimate can be used to identify if the cell
IDs are pointing to an incorrect location and therefore have been
re-assigned to a different cell tower.
[0082] If cell ID movement is detected, the location of WLAN PS can
be used as a reference to correct and update location of the cell
IDs which are registered at an incorrect location in the reference
database.
[0083] FIG. 6 shows CPS and WLAN PS, in which CPS results to two
different location estimates 605 and 606 and a WLAN positioning
system 601 with a location estimate 602. The detected cell towers
603 and 604 are far apart and resulting in two different location
estimates 605 and 606. In this example, WLAN PS location estimate
602 is consistent with CPS location estimate 605. Therefore, it is
concluded that the cell ID of the cell tower 604 was changed, and
the cell ID of cell tower 604 is located in the vicinity of the
cell tower 603 and WLAN PS location estimate 602.
[0084] FIG. 7 illustrates WLAN PS 801 and CPS 806 integrated
solution, in which all the modules are the same as FIG. 2, except
for CPS trilateration 808. Trilateration based on cell towers 808
also receives WLAN PS location estimate 314 as an input. When CPS
trilateration 808 provides multiple possible location estimates for
the mobile device, the WLAN PS location estimate is used to detect
cell towers having changed cell IDs and assigned to new
locations.
[0085] Under another embodiment of the disclosed subject matter, a
system and method is provided in which the WLAN PS can provide a
region in which a possible location solution resides, and within
the provided region the final location estimate of the mobile
device can be selected based on CPS. This method can be used when
the expected error of the CPS location estimate is less than the
expected error of WLAN PS location estimate. For example, when CPS
uses TOA or TDOA technology and there is a line of sight connection
between the mobile device and the cell towers, the expected error
of CPS can be less than that of WLAN PS. When CPS uses TOA and TDOA
technology, the arrival time of received signal from each cell
tower can be estimated. The received signal in cellular network can
be subject to multipath, and there can be multiple copies of the
received signal. Therefore, there can be multiple choices for the
arrival time of the signal, which can result in different distance
estimations between the mobile user and the cell tower. Thus, a set
of distance measurements from two or more cell towers can result in
multiple possible location estimates for the mobile device. CPS
possible solutions are combined or selected by additional location
information provided by WLAN PS about the location of the mobile
device. For example, the CPS solution closest to the WLAN PS
location solution can be selected as the final location estimate of
the mobile device or possible solutions of CPS can be weighted
according to their distance to the WLAN PS solution. After
assigning a weight to each possible CPS location, various
algorithms can be used to combine or select CPS possible locations.
For example, the final reported location can be weighted by an
average of all possible locations, low weight locations can be
removed from the weighted average, or only the highest weighted
location can be reported. Selection can be a special case of
weighting, in which the respective weights are zero and one. A low
weight can correspond to a CPS estimate that is far from the WLAN
PS solution, for example, on the order of hundreds of meters. A
high weight can correspond to a CPS estimate that is close to the
WLAN PS solution, for example, within on the order of tens of
meters.
[0086] In some embodiments, there is only a measurement from one
cell tower. Therefore, only the distance from one cell tower is
known, which results to a circle of possible solutions of cell
positioning system, and the cellular based position estimate (in
the circle of possible CPS solutions) closest to the WLAN location
estimate is selected as the location of the WLAN and cellular
enabled device
[0087] FIG. 8 shows an integrated WLAN PS and CPS, in which WLAN PS
901 provides an estimate of the location of the mobile device with
some uncertainty 903. The uncertainty 903 can be the expected error
of WLAN PS. The mobile device also acquires signals from two or
more cell towers 902. CPS uses TOA in this example, and it returns
a set of possible location estimates 904, 905, and 906. The
location estimate 904 can be the final location estimate of the
mobile device, because it is consistent with WLAN PS location
estimate 903.
[0088] Referring back to FIG. 7, FIG. 7 shows an integrated
solution of WLAN PS 801 and CPS 806 in which final location
estimate 314 provided by WLAN PS is given to CPS trilateration
device 808. However, in this embodiment, the CPS trilateration
device 808 uses the WLAN PS location estimate 314 to select the
best CPS location estimate instead of using the WLAN PS location
estimate 314 to determine if the cell ID has moved.
[0089] WLAN PS 801 is an off the shelf system. The CPS 806 and
trilateration device 808 can be modified to receive the WLAN PS
location estimate 314 as an input. When the distance between
associated locations of at least two detected cell IDs are an order
of magnitude higher than normal coverage of the detected cell
towers, the WLAN PS location estimate 314 can be used as an
arbitrator to select cell IDs which are in the general area of the
WLAN PS location estimate. Other cell IDs which are not in the
general area of the WLAN PS location estimate can be marked as
changed, i.e., the associated location of the cell tower was moved.
Selecting the best set can mean selecting the one which is not
moved. In other words, best set can be the set which has not
moved.
[0090] Another embodiment of the invention provides a method to
increase the accuracy of the expected error of a location estimate
of an integrated location solution of CPS and WLAN PS and compare
the integrated error to error location results for each individual
system. The expected error estimation provides an uncertainty area
around the estimated location. If the estimated locations of the
WLAN PS and the CPS are within the uncertainty area of each other,
i.e., the expected errors of the two systems are consistent, the
uncertainty area of the final estimate can be reduced based on
distance between estimated locations from both systems. If the
estimated locations of WLAN PS and CPS are not within the
uncertainty area of each other, i.e., the expected errors are
inconsistent, the uncertainty area is increased based on distance
between estimated locations from both systems. If only one of the
estimated locations of WLAN PS and CPS falls inside the uncertainty
area of the other system, the uncertainty area can be reduced or
increased based on the quality of estimated error from each system.
The estimated error of location estimate normally reports the 95%
confidence interval, but it can report any other confidence
interval as well.
[0091] FIG. 9 illustrates WLAN PS location estimation 1301, WLAN PS
expected error of estimation 1303, CPS location estimation 1302 and
CPS expected error of estimation 1304. The reported uncertainty by
each system can be the expected error of a final position estimate.
The error of estimation also can be referred to as uncertainty
area.
[0092] In such a system, the CPS and WLAN PS each can provide a
location estimate and also an estimate of the expected error in
that location estimation. The expected errors of the location
estimate provided by both systems can be combined in order to
provide a better estimate of the error of the location estimation.
For example, if each system provides an area around the reported
location as an uncertainty of the estimated location (1303 and
1304), the integrated system considers the overlap of the
uncertainty areas 1305 and also the distance between estimated
locations 1306 to estimate the uncertainty of the final location
estimate. The greater the distance between the estimated locations
by CPS and WLAN PS is, the higher the expected error of location
estimation. In another implementation, the system can select the
location estimate with the lowest uncertainty as the final location
estimate.
[0093] FIG. 10 illustrates a block diagram of integrated WLAN PS
and CPS system, in which the expected error of each system is
calculated using conventional methods, and the results are provided
to integrated error estimation system device 1411. The integrated
error estimation 1411 calculates the final expected error by
considering the consistency between the reported locations by WLAN
PS and CPS.
[0094] Upon review of the description and embodiments of the
present invention, those skilled in the art will understand that
modifications and equivalent substitutions may be performed in
carrying out the invention without department from the essence of
the invention. Thus, the invention is not meant to be limiting by
the embodiments described explicitly above and is limited only by
the claims which follow. Further, the features of the disclosed
embodiments can be combined, rearranged, etc., within the scope of
the invention to produce additional embodiments.
* * * * *