INDOOR POSITIONING USING JOINT LIKELIHOODS

Apparatus, systems and methods for estimating a position of a mobile terminal (MT) using joint probability distribution values are disclosed. In an example, the MT is capable of receiving signals from a plurality of access points. The MT receives a map of expected measurements for a parameter observable by the MT, from any of a plurality of hypothesis locations. The expected measurements are predictive of a value of the parameter observed by the MT, when the MT is proximal that hypothesis location. The MT captures measurements of the parameter for the plurality of access points, computes interim vectors for the hypothesis locations using the captured and expected measurements, computes joint probability distributions for the interim vectors using a covariance matrix, and filters the joint probability distributions to produce an estimated position of the MT.