In the wardriving type method proposed in this letter, the localization of the base stations (BSs) is performed based on unscented Kalman filter with state constraints (UKFC). The state vector is formed by the coordinates and velocities of BSs, and the observations are localization measurements made by a mobile station. The localization measurements show that the BSs are situated on a 3D surface, and this information, fused with the constraint that the base stations form a rigid network, lead to a consistent estimator. The distances between BSs provided by cooperative localization networks, added as constraints, results in a drastic reduction of estimation uncertainty.

中文翻译：

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基站位置在线估计

在这封信中提出的驱动型方法中，基站 (BS) 的定位是基于具有状态约束的无迹卡尔曼滤波器 (UKFC) 执行的。状态向量由基站的坐标和速度形成，观测值是移动站进行的定位测量。定位测量表明 BS 位于 3D 表面上，并且该信息与基站形成刚性网络的约束相融合，产生一致的估计量。由合作定位网络提供的 BS 之间的距离，作为约束添加，导致估计不确定性的急剧减少。