Patent ID: 11914062
Assignee: TELEFONAKTIEBOLAGET LM ERICSSON (PUBL)
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 17:
18. A system comprising:
a measurement device for supporting calibration of a positioning system comprising a plurality of anchor nodes used to determine tag positions within a localization area using radio technology, the measurement device, the measurement device comprising:
at least one odometry sensor and a localization tag configured to communicate with the plurality of anchor nodes using the radio technology, the measurement device being configured to:
perform, at a plurality of first measurement points in the localization area using the localization tag, first ranging measurements with respect to the plurality of anchor nodes using the radio technology to determine respective first distances from the measurement device to the plurality of anchor nodes and performing, at the plurality of first measurement points using the at least one odometry sensor, first odometry measurements to estimate respective first positions of the measurement device in the localization area;
estimate locations of the plurality of anchor nodes based on the respective first distances determined by the first ranging measurements and the respective first positions estimated by the first odometry measurements, estimating the locations of the plurality of anchor nodes includes:
executing at least two location estimation algorithms having different characteristics with regard to error robustness; and
combining the results of the at least two location estimation algorithms; and

provide the respective first distances determined by the first ranging measurements and the respective first positions estimated by the first odometry measurements to a configuration component for calibration of the positioning system; and

the configuration component comprising:
a plurality of anchor nodes used to determine tag positions within a localization area using radio technology, the configuration component being configured to:
obtain, from a measurement device, respective first distances from the measurement device to the plurality of anchor nodes determined by first ranging measurements performed by the measurement device at a plurality of first measurement points in the localization area using a localization tag of the measurement device, and respective first positions of the measurement device in the localization area estimated by first odometry measurements performed by the measurement device at the plurality of first measurement points using at least one odometry sensor of the measurement device;
estimate locations of the plurality of anchor nodes based on the respective first distances determined by the first ranging measurements and the respective first positions estimated by the first odometry measurements, estimating the locations of the plurality of anchor nodes including:
executing the at least two location estimation algorithms having different characteristics with regard to error robustness; and
combining the results of the at least two location estimation algorithms; and

configure the positioning system with the estimated locations of the plurality of anchor nodes to calibrate the positioning system; and

the at least two location estimation algorithms comprising a crosspoint based algorithm which includes calculating crosspoints of spheres as candidate locations of anchor nodes, the spheres having centers corresponding to the first positions estimated by the first odometry measurements and having radii corresponding to the associated first distances determined by the first ranging measurements.