Patent ID: 8660586

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 an expected measurement of a parameter by the mobile terminal; receiving parameters of a matrix corresponding to the expected measurement map; capturing, by the mobile terminal, actual measurements of the parameter for a plurality of communication devices; and utilizing the received parameters and the actual measurements to estimate the position of the mobile terminal, wherein each of the actual measurements and the expected measurement map comprise values indicative of a delay in a communication path between the mobile terminal and one or more of the plurality of communication devices, wherein the expected measurement map is associated with the plurality of communication devices and a plurality of hypothesis locations, and wherein utilizing the received parameters and the actual measurements to estimate the position of the mobile terminal further comprises computing a respective interim vector from the actual measurements and the expected measurement map for each hypothesis location; computing joint probability distribution values as an exponential of a matrix product using the interim vector and the matrix to produce a joint probability distribution value; and filtering the joint probability distribution value to estimate the position of the mobile terminal.