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

Claim 10:
11. A configuration component 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 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 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.