| CPC G01S 5/04 (2013.01) [G01S 5/021 (2013.01); H04W 64/00 (2013.01)] | 20 Claims |
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1. An apparatus comprising:
at least one processor and
at least one memory storing instructions that, when executed by the at least one processor, cause the apparatus at least to:
receive, from a plurality of locator devices at known locations, wherein locator devices from the plurality of locator devices are configured to obtain one or more bearing measurements, bearing measurements indicative of one or more bearings from respective ones of the plurality of locator devices to a mobile device;
estimate a position of the mobile device using the known location of the respective ones of the plurality of locator devices and the bearing measurements: from the respective ones of the plurality of locator devices;
determine, for respective ones of the bearing measurements, an error based on the bearing measurement and the estimated position of the mobile device;
determine a weight for respective ones of the bearing measurements based, at least partially, on a mapping of the determined error to a weight between zero and one;
identify one or more bearing measurements having an error in excess of a threshold; and
re-estimate the position of the mobile device such that a contribution of the identified one or more bearing measurements to the re-estimated position is reduced, wherein the bearing measurements are respectively associated with the respective determined weight for the re-estimation.
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