Relative 3D positioning in an ad-hoc network based on distances

Communications: directive radio wave systems and devices (e.g. – Directive – Position indicating

Reexamination Certificate

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Reexamination Certificate

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07952522

ABSTRACT:
A positioning apparatus for a wireless ad-hoc network that can measure distances between network nodes that are in range and connected to each other. The positioning apparatus can calculate 3D positions of some nodes using the distance values using a relative coordinate system, first by measuring distances to neighbored nodes, receiving and sending distance reports to/from neighbors, by second initially advantageously selecting the set of base nodes to which the coordinate system relates, and by calculating positions of the base nodes and other nodes in the network initially, and by third detecting movements in the network and by calculating positions of the moved nodes. The network can compensate for movements of the base nodes, select the base nodes in an advantageous way, and cope with sleeping nodes, with unreliable communication, and with fluctuating network topologies. Neighbor communication is used only if no node is sleeping.

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