Mobile location tracking with velocity estimation

In this paper, we develop a mobile positioning method for mobile position tracking and velocity estimation in a network-based wireless location system. The time of arrival (TOA) information obtained at multiple base stations are used in geometric location techniques for estimating the location of a mobile station. The time sequence of location measures are then processed by Kalman filters for position tracking and velocity estimation. It is shown that the location tracking error can be reduced by adjusting the processing rate of Kalman filtering. Two post-Kalman filter smoothing methods are also proposed to improve performance of velocity estimation.