	US 12,235,375 B2
	Method and positioning engine for determining a position of a mobile device
Dimitris Kalogiros, Thalwil (CH); Ioannis Sarris, Thalwil (CH); Matthias Mahlig, Thalwil (CH); and Stelios Papaharalabos, Thalwil (CH)
Assigned to u-blox AG, Thalwil (CH)
Filed by u-blox AG, Thalwil (CH)
Filed on Sep. 19, 2022, as Appl. No. 17/947,754.
Claims priority of application No. 21197751 (EP), filed on Sep. 20, 2021.
Prior Publication US 2023/0091448 A1, Mar. 23, 2023
Int. Cl. H04W 4/02 (2018.01); G01S 5/02 (2010.01); G01S 5/14 (2006.01); G06F 17/17 (2006.01); H04B 17/318 (2015.01)

CPC G01S 5/0278 (2013.01) [G01S 5/14 (2013.01); G06F 17/17 (2013.01); H04B 17/318 (2015.01); H04W 4/023 (2013.01); H04W 4/025 (2013.01)]

14 Claims

1. A method for determining a position of a mobile device, the method comprising:

for each of a plurality of anchor points, receiving respective relative position information between the respective anchor point and the mobile device such that the received relative position information for the plurality of anchor points forms a set of position information, each relative position information including at least one of:

a direction between the respective anchor point and the mobile device;

a distance between the respective anchor point and the mobile device;

a direction and a distance between the respective anchor point and the mobile device;

determining an estimated position of the mobile device based on the set of position information;

defining a set of loci, each locus of the set of loci being based on one or more of the relative position information from the set of position information;

determining, for each locus of the set of loci, a distance value between the estimated position of the mobile device and the respective locus;

determining, for each locus of the set of loci, a weight factor w_ias a function of the determined distance values; and

determining a refined position of the mobile device based on the set of position information and the determined weight factors.