Patent ID: 6618690
Filing Date: 2003-09-09
Classification: H03H

Abstract:
An improved generalized positioning system, for making estimates of state information of an object, the state information being information about the state of motion of the object, having a filter that statistically determines a succession of state estimates along with corresponding uncertainty estimates based on a succession of state measurements, the improvement comprising:a) means for determining association probabilities for a plurality of state measurements all at a same instant of time, each association probability corresponding to a particular state measurement at the instant of time, and also means for determining an association probability providing a value for the probability that none of the plurality of measurements is correct; b) means for combining into a single measurement innovation each individual innovation using the association probabilities as weightings; and c) means for determining the covariance of the updated state based on the individual association probabilities, the association probability for providing a value for the probability that none of the measurements is correct, and the combined measurement innovation.