Crowd sourced beacon altitudes for 3D positioning

Patent metadata

Field	Value
Publication number	US-11977141-B2
Application number	US-202117221148-A
Country	US
Kind code	B2
Filing date	Apr 2, 2021
Priority date	Apr 2, 2021
Publication date	May 7, 2024
Grant date	May 7, 2024

Abstract

In various embodiments, crowd sourcing techniques are provided to determine beacon altitudes that may then be used in 3D positioning of UE. Some techniques may crowd source beacon altitudes based on global navigation satellite system (GNSS) position fixes obtained by UE. Other techniques may crowd source beacon altitudes based on uncalibrated pressure measurements obtained by UE. Still other techniques may combine beacon altitude crowd-sourcing and pressure sensor calibration on UE. Such techniques may make inferences based on line of sight (LOS) between UE and beacons, determined using signal strength, connection status, and/or timing measurement. The techniques may be implemented separately, or as part of a combined system that determines beacon altitudes in diverse manners. Once beacon altitudes are known, that may be used to determine 3D positions of the UE (e.g., by trilateration, multilateration or other positioning techniques).

First claim

What is claimed is:

1. A method for crowd sourcing beacon altitudes for use in three dimensional (3D) positioning of user equipment (UE), comprising:
for each of a plurality of UE,
estimating, by software executing on one or more electronic devices, an altitude of the UE at a time based on one or more global navigation satellite system (GNSS)-based position fixes for the UE,
determining, by the software, one or more beacons have line-of-sight (LOS) with the UE at the time based on observations of beacons by the UE, and
binding the altitude of the UE to each beacon of the one or more beacons having LOS with the UE at the time, wherein the time is a time window and the binding binds an altitude of the UE closest in time to a center of the time window to each beacon of the one or more beacons; and

for the one or more beacons,
determining a beacon altitude based on a set of bound altitudes for the respective beacon, the set of bound altitudes being altitudes of UE bound to the respective beacon,
updating a beacon database with the determined beacon altitude, the beacon database usable to calculate 3D position of UE, and
transmitting at least a portion of the beacon database to a device to enable the device to determine a 3D position of at least one UE based at least in part on beacon altitudes stored in the portion of the beacon database.

2. The method of claim 1 , further comprising:
providing, by the software, at least a portion of the beacon database to UE to enable the UE to calculate their 3D position.

3. The method of claim 1 , wherein the GNSS-based position fixes are fused with one or more other types of position fixes.

4. The method of claim 1 , wherein the GNSS-based position fixes are solely based on GNSS measurements.

5. The method of claim 1 , further comprising:
obtaining GNSS-based position fixes for the UE based on signals received by a GNSS receiver of the UE; and
observing one or more beacons within range of the UE based on signals received by a wireless network interface of the UE.

6. The method of claim 1 , wherein the determining one or more beacons have LOS further comprises:
comparing a signal strength indicator for each of the one or more beacons to a threshold; and
determining the signal strength indicator exceeds the threshold.

7. The method of claim 6 , wherein at least one of the signal strength indicator or the threshold is based on a radio frequency (RF) band/channel, type of beacon, model of beacon of the type, or manufacturer of beacon of the type.

8. The method of claim 1 , wherein the determining one or more beacons have LOS further comprises:
checking a connection status of the UE to each of the one or more beacons; and
determining the connection status indicates the UE is connected.

9. The method of claim 1 , wherein the determining one or more beacons have LOS further comprises:
comparing timing measurements and signal strength of a plurality of signal measurements for the beacon; and
determining a signal measurement that has a timing measurement less than a timing threshold and that has a greater signal strength than other of the plurality of signal measurements.

10. The method of claim 1 , wherein the determining the beacon altitude based on the set of bound altitudes further comprises:
averaging altitudes of the set of bound altitudes.

11. The method of claim 1 , wherein the determining the beacon altitude based on the set of bound altitudes further comprises:
determining the beacon and another beacon having a previously determined altitude are bound to the same altitude; and
assigning the previously determined altitude of the another beacon to the beacon.

12. An apparatus for crowd sourcing beacon altitudes for use in three dimensional (3D) positioning of user equipment (UE), comprising:
a memory; and
one or more processors communicatively coupled to the memory, the one or more processors, either alone or in combination, configured to:
for each of a plurality of UE,
estimate an altitude of the UE at a time based on one or more global navigation satellite system (GNSS)-based position fixes for the UE,
determine one or more beacons have line-of-sight (LOS) with the UE at the time based on observations of beacons by the UE, and
bind the altitude of the UE to each beacon of the one or more beacons having LOS with the UE at the time, wherein the time is a time window and the binding binds an altitude of the UE closest in time to a center of the time window to each beacon of the one or more beacons; and

for the one or more beacons,
determine a beacon altitude based on a set of bound altitudes for the respective beacon, the set of bound altitudes being altitudes of UE bound to the respective beacon,
update a beacon database with the determined beacon altitude, the beacon database usable to calculate 3D position of UE, and
transmit at least a portion of the beacon database to a device to enable the device to determine a 3D position of at least one UE based at least in part on beacon altitudes stored in the portion of the beacon database.

13. The apparatus of claim 12 , wherein the one or more processors, either alone or in combination, are further configured to:
provide at least a portion of the beacon database to UE to enable the UE to calculate their 3D position.

14. The apparatus of claim 12 , wherein the GNSS-based position fixes are fused with one or more other types of position fixes.

15. The apparatus of claim 12 , wherein the GNSS-based position fixes are solely based on GNSS measurements.

16. The apparatus of claim 12 , wherein the one or more processors, either alone or in combination, are further configured to:
obtain GNSS-based position fixes for the UE based on signals received by a GNSS receiver of the UE; and
observe one or more beacons within range of the UE based on signals received by a wireless network interface of the UE.

17. The apparatus of claim 12 , wherein:
the time is a time window, and
the one or more processors being configured to bind comprises the one or more processors, either alone or in combination, being configured to bind an altitude of the UE closest in time to a center of the time window to each beacon.

18. The apparatus of claim 12 , wherein the one or more processors being configured to determine one or more beacons have LOS further comprises the one or more processors, either alone or in combination, configured to:
compare a signal strength indicator for each of the one or more beacons to a threshold; and
determine the signal strength indicator exceeds the threshold.

19. The apparatus of claim 18 , wherein at least one of the signal strength indicator or the threshold is based on a radio frequency (RF) band/channel, type of beacon, model of beacon of the type, or manufacturer of beacon of the type.

20. The apparatus of claim 12 , wherein the one or more processors being configured to determine one or more beacons have LOS further comprises the one or more processors, either alone or in combination, being configured to:
check a connection status of the UE to each of the one or more beacons; and
determine the connection status indicates the UE is connected.

21. The apparatus of claim 12 , wherein the one or more processors being configured to determine one or more beacons have LOS further comprises the one or more processors, either alone or in combination, being configured to:
compare timing measurements and signal strength of a plurality of signal measurements

Assignees

• Skyhook Wireless Inc

Inventors

• Issakov Simon
• Anderson Robert J

Classifications

• G01S1/024 Primary

  of beacon transmitters · CPC title

• G01S19/45

  by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement · CPC title

• G06F16/2379

  Updates performed during online database operations; commit processing · CPC title

• H04W24/10

  Scheduling measurement reports {; Arrangements for measurement reports} · CPC title

• G01S5/0242 Primary

  Determining the position of transmitters to be subsequently used in positioning (G01S5/0289 takes precedence) · CPC title