Patent attributes
A method for generating a model of an environment enabling positioning within the environment is disclosed. The method comprises: receiving distance-dependent measurements relating to a distance between a receiving unit position and a source position; receiving information relating to geographic positions, each defining a receiving unit position or a source position; forming a candidate model, which defines candidate source positions and candidate receiving unit positions; iteratively reducing a model error of said candidate model, wherein said model error comprises a weighted contribution from distance-dependent errors, which are based on a difference between a distance-dependent value between a candidate source position and a candidate receiving unit position and the corresponding distance-dependent measurement, and geographic position errors, which are based on a difference between a geographic position and a corresponding candidate position, and outputting, from said iterative reducing, determined locations for said plurality of sources to form said model of the environment.
