Patent ID: 8583146

Claim:
A method in a mobile terminal for estimating a position of the mobile terminal, the method comprising: receiving an expected measurement map indicative of expected measurement values of a parameter; receiving parameters of a matrix R nn corresponding to the expected measurement map; capturing actual measurement values of the parameter for a plurality of communication devices; and utilizing the received parameters and the actual measurement values to estimate a position of the mobile terminal, wherein the expected measurement map comprises, for each of a plurality of hypothesis locations (Loc(i,j)), a set of expected measurement values ({right arrow over (μ)} Loc(i,j) ) containing expected measurements for the parameter, each of the expected measurements corresponding to a respective communication device of the plurality of communication devices, and wherein utilizing the received parameters and the actual measurement values to estimate the position of the mobile terminal further comprises computing, for each of a plurality of hypothesis locations, an interim vector ({right arrow over (Y)} i,j ) from the actual measurements and the expected measurement map, computing a joint probability distribution value (P i,j ) as an exponential of a matrix product of {right arrow over (Y)} i,j and R nn , and filtering the joint probability distribution value to estimate the position of the mobile terminal.