Position tracking and velocity estimation for mobile positioning systems

A method of mobile position tracking and velocity estimation for network-based mobile positioning systems is presented. Kalman filtering is used to process the sequences of mobile location measures obtained from time-of-arrival (TOA) geometric location techniques. Two-dimensional position tracking and velocity estimation are obtained. Simulation results show that carefully adjusting the processing rate of Kalman filtering can reduce the location tracking error. One post-Kalman-filter smoothing method is also proposed for better performance of velocity estimation.