CPC G01S 5/0268 (2013.01) [G01S 5/10 (2013.01); H04W 4/021 (2013.01); H04W 4/023 (2013.01)] | 11 Claims |
1. A method of establishing location of a mobile terminal, the method comprising:
obtaining indoor environmental information;
receiving a set of data, from a base station, of the mobile terminal;
determining, based on the indoor environmental information and the set of data of the mobile terminal, a line that contains a two-dimensional (2D) planar projection point of the base station, a 2D planar projection point of the mobile terminal, and a scatterer corresponding to the base station;
obtaining positional information of the scatterer, by applying a constraint that the scatterer must be located on the line; and
estimating positional information of the mobile terminal based on the positional information of the base station, the set of data, and the positional information of the scatterer, wherein the positional information of the mobile terminal is estimated by applying a constrained iterative weighted least-squares method.
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