Patent ID: 8102314

Claim:
A method for a computer-aided localization of a mobile object aided by a feature-based position-finding method where features of a plurality of base stations are measured, and a position of the object is located from the features using a reference map, the feature of a base station characterizing a field emitted by the base station at the object or a field emitted by the object at the base station, comprising: predetermining, during initialization of the method, a reference map by calculating the reference map using a wave propagation model, the reference map comprising a multiplicity of support points, which are each represented by a position and a feature-dependent value assigned to the position; carrying-out a plurality of position-finding processes during use of the method wherein a measured feature-dependent value and from the measured feature-dependent value a located position of the object are determined via the feature-based position-finding method using the predetermined reference map calculated using the wave propagation model; and carrying-out, in each case, for at least some of locations, an update of the predetermined reference map where the feature-dependent values are each corrected by a correction term at the support points of the reference map in a predetermined area surrounding an object position, the correction term depending on a difference between the measured feature-dependent value for the respective location and the feature-dependent value at a support point in the predetermined surrounding area; and wherein the features of the plurality of base stations are radio signal strengths of the base stations and the radio signal strengths are measured by the base stations such that each of the base stations self measures the radio signal strength of that base station and wherein the self measurements are the only source of measurements used to determine the reference map during the initialization of the method, the reference map being a field-strength map.