Indoor localization system with lte code and carrier phase measurements and an imu

Abstract

Systems, device configurations and methods are provided for indoor localization for a navigator receiver based on broadband communication signals such as LTE. In one embodiment, an LTE-IMU framework determines receiver position indoors. Two different designs of LTE receivers are provided based on code phase and carrier phase determinations of the received signal. A base/navigator framework is presented to correct unknown clock biases of the LTE eNodeBs. In this framework, the base receiver is placed outdoors, has knowledge of its own position, and makes pseudorange measurements to eNodeBs in the environment whose positions are known. The base transmits these pseudoranges to the indoor navigating receiver, which is also making pseudorange measurements to the same eNodeBs. The navigating receiver differences the base and navigator pseudoranges. The navigator receiver is equipped with an extended Kalman filter (EKF) to fuse LTE and IMU measurements in a tightly-coupled fashion and estimate navigating receiver states.