Patent ID: 11963130
Assignee: TELEFONAKTIEBOLAGET LM ERICSSON (PUBL)
Field: Measurement (Instruments)
Classification: CPC H  G | IPC B  G  H

Claim 9:
10. The network node according to claim 6, wherein:
said discrimination feature of the kinematic state estimate being selected from a list of:
an altitude above ground of the kinematic state estimate;
an altitude velocity of the kinematic state estimate;
a horizontal speed of the kinematic state estimate;
a horizontal position of the kinematic state estimate;
a magnitude of an acceleration of the kinematic state estimate;

said discrimination feature of the kinematic state estimate being modelled by a Gaussian probability distribution function in the smooth indicator function;
said update recursively said type state estimate conditioned on at least one of a kinematic state estimate accuracy and kinematic mode probability;
further to propagate said type state estimate to a present time;
further to propagate said type state estimate to a present time by diffusion of type probabilities towards a constant probability vector;
further to propagate said type state estimate to a present time according to:

P(t+T,D|zt)=PD+(P(t,D|zt)−PD)α−αT,

where P(t+T,D|zt) is said type state estimate of a present time, (P(t,D|zt) is said type state estimate of a previous time, PD is said constant probability vector and α is a predetermined propagation constant;
said kinematic state estimate updates comprises estimated positions and velocities, covariances therefore, and mode probability information; or
any combination thereof.