Method and system for using offline map information aided enhanced portable navigation

• US 10,018,474 B2
• Filed: 12/21/2015
• Issued: 07/10/2018
• Est. Priority Date: 12/21/2015
• Status: Active Grant

• Current Assignee: Invensense Incorporated (TDK Corporation)
• Original Assignee: Invensense Incorporated (TDK Corporation)
• Inventors: Li, Tao, Georgy, Jacques, Wang, Da, Mao, Sheng, Sahli, Hussein
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US14/976,992
• Publication Number:
  US 20170176191A1
• Time in Patent Office: 932 Days
• Field of Search: 701 1, 701 47, 701124, 701408, 701412, 701466, 701468, 701469, 701533, 702141, 702151, 706 46, 340903, 34235721, 34235748
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01S 19/01 Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO

Abstract

The navigation solution of a portable device may be enhanced using map information. Sensor data for the portable device may be used to derive navigation solutions at a plurality of epochs over a first period of time. Position information for the device may be estimated at a time subsequent to the first period of time using the navigation solutions. Map information for an area encompassing a current location of the portable device may also be obtained. Multiple hypotheses regarding possible positions of the portable device may be generated using the estimated position information and the map information. By managing and processing the hypotheses, estimated position information for at least one epoch during the first period of time may be updated. An enhanced navigation solution for the at least one epoch may be provided using the updated estimated position information.

Claims

1. A method for enhancing a navigation solution of a portable device and a platform using map information, wherein the mobility of the portable device is constrained or unconstrained within the platform and wherein the portable device may be tilted to any orientation, the method comprising:

a) obtaining sensor data for the portable device from at least one sensor integrated with the portable device representing motion of the portable device at a plurality of epochs over a first period of time;

b) deriving navigation solutions for the epochs based at least in part on the sensor data;

c) implementing an enhanced navigation solution by;

i) estimating position information for the portable device based at least in part on the derived navigation solutions at a time subsequent to the first period of time;

ii) obtaining map information for an area encompassing locations of the portable device during the first period of time;

iii) generating multiple hypotheses regarding possible positions of the portable device for at least one epoch during the first period of time based at least in part on the estimated position information and the map information;

iv) managing the multiple hypotheses based at least in part on the estimated position information and the map information, wherein managing hypotheses comprises at least one of adding, eliminating, electing and combining at least some hypotheses; and

v) processing the managed hypotheses to update the estimated position information for the portable device; and

d) outputting the enhanced navigation solution for the at least one epoch using the updated estimated position information.

2. The method of claim 1, further comprising obtaining absolute navigation information for the portable device, wherein the navigation solution derived for at least one epoch is based at least in part on the absolute navigation information.

3. The method of claim 2, wherein the absolute navigation information is obtained from any one or any combination of the following:

(i) a global navigation satellite system (GNSS);

(ii) cell-based positioning;

(iii) WiFi-based positioning;

or (iv) other wireless-based positioning.

4. The method of claim 1, wherein providing enhanced navigation solution comprises performing a forward processing operation on the obtained sensor data over the first period of time.

5. The method of claim 1, wherein providing the enhanced navigation solution comprises performing a backward processing operation on the obtained sensor data over the first period of time.

6. The method of claim 1, wherein providing the enhanced navigation solution comprises performing a forward processing operation on the obtained sensor data over the first period of time and performing a backward processing operation on the obtained sensor data over the first period of time.

7. The method of claim 1, wherein providing the enhanced navigation solution comprises performing a forward processing operation on the obtained sensor data over the first period of time, performing a backward processing operation on the obtained sensor data over the first period of time, and combining outputs of the forward processing operation and the backward processing operation.

8. The method of claim 1, wherein providing the enhanced navigation solution comprises performing a smoothing operation over the first period of time.

9. The method of claim 1, wherein providing the enhanced navigation solution comprises performing a backward smoothing operation over the first period of time.

10. The method of claim 1, wherein providing the enhanced navigation solution comprises performing a multiple pass processing operation over the first period of time.

11. The method of claim 1, further comprising filtering heading information for the navigation solution of at least one epoch.

12. The method of claim 11, wherein filtering heading information comprises applying a zero-phase low pass filter.

13. The method of claim 1, further comprising categorizing the derived navigation solutions into straight-line segments and turn segments.

14. The method of claim 13, further comprising detecting a false turn.

15. The method of claim 1, further comprising detecting a non-meaningful motion period within the first period of time.

16. The method of claim 15, wherein the non-meaningful motion period is a fidgeting period.

17. The method of claim 16, further comprising tracking misalignment corresponding to the fidgeting period.

18. The method of claim 16, further comprising compensating steps detected during the fidgeting period.

19. The method of claim 1, further comprising preprocessing the map information.

20. The method of claim 19, wherein preprocessing the map information comprises extracting map entities.

21. The method of claim 20, wherein preprocessing the map information further comprises clipping at least one foreground map entity from a background entity.

22. The method of claim 20, wherein clipping the background entity defines a traversable area.

23. The method of claim 19, wherein preprocessing the map information further comprises representing a map entity as a relatively complex polygon and decomposing the polygon into a plurality of relatively more simple polygons.

24. The method of claim 19, wherein preprocessing the map information comprises generating a grid of connected links and nodes.

25. The method of claim 1, wherein the estimated position information comprises an error region representing potential positions of the portable device at the at least one instant during the first period of time.

26. The method of claim 25, wherein at least one of the hypotheses is generated by projecting the error region onto the map information.

27. The method of claim 25, wherein a plurality of hypotheses are generated by projecting the error region onto the map information when an overlap with a plurality of map entities occurs.

28. The method of claim 25, wherein the map information comprises a polygon based geometric map.

29. The method of claim 25, wherein the map information comprises a grid map.

30. The method of claim 1, wherein the map information comprises a grid map and the estimated position information is based at least in part on a correlation between a determined user trajectory for the at least one epoch and a topological feature of the grid map.

31. The method of claim 30, further comprising applying a weighted topological algorithm.

32. The method of claim 1, further comprising identifying an anchor point, wherein the navigation solution derived for at least one epoch is associated with the anchor point and wherein managing the hypotheses is based at least in part on the identified anchor point.

33. The method of claim 32, further comprising identifying a plurality of ordered anchor points.

34. The method of claim 33, further comprising generating a hypothesis based at least in part on the ordered anchor points.

35. The method of claim 33, further comprising identifying a plurality of unordered anchor points.

36. The method of claim 33, further comprising identifying at least one improperly ordered anchor point.

37. The method of claim 1, further comprising identifying a plurality of unordered anchor points, wherein managing the hypotheses is based at least in part on the unordered anchor points.

38. The method of claim 1, wherein managing the hypotheses further comprises applying a decision making logic.

39. The method of claim 38, wherein the decision making logic is configured for a wall crossing event.

40. The method of claim 38, wherein the decision making logic is configured for a level change event.

41. The method of claim 1, further comprising storing generated multiple hypotheses for a plurality of epochs.

42. The method of claim 41, wherein storing generated multiple hypotheses comprises relating hypotheses to each other.

43. The method of claim 42, further comprising weighting the stored generated multiple hypotheses based at least in part on the relations.

44. The method of claim 1, wherein the navigation solution comprises a motion mode for the user.

45. The method of claim 44, wherein the estimated position information is based at least in part on the motion mode.

46. The method of claim 44, wherein the hypotheses are managed based at least in part on the motion mode.

47. The method of claim 44, wherein a level change event is based at least in part on the motion mode.

48. The method of claim 1, wherein the enhanced navigation solution comprises a motion mode for the user detected based at least in part on a map entity associated with the estimated position information.

49. The method of claim 1, wherein position information for the portable device is estimated using at least one of a prediction only Kalman filter, a near constant velocity Kalman filter, a prediction only particle filter and a near constant velocity particle filter.

50. The method of claim 1, wherein at least one of deriving the navigation solutions, obtaining map information, generating multiple hypotheses, managing the hypotheses, processing the managed hypotheses to update the estimated position information for the portable device and providing an enhanced navigation solution using the updated estimated position information is performed remotely.

51. A portable device for enhancing a navigation solution of the portable device and a platform using map information, wherein the mobility of the portable device is constrained or unconstrained within the platform and wherein the portable device may be tilted to any orientation, the portable device comprising:

a) an integrated sensor assembly, configured to output sensor data representing motion of the portable device for the portable device at a plurality of epochs over a first period of time;

b) a navigation module configured to derive navigation solutions based at least in part on the sensor data at a plurality of sensor epochs; and

c) a processor configured to implement;

i) a position estimator for providing estimated position information for the portable device based at least in part on the derived navigation solutions at a time subsequent to the first period of time;

ii) a map handler for obtaining map information for an area encompassing locations of the portable device during the first period of time; and

iii) a hypothesis analyzer for;

A) generating multiple hypotheses regarding possible positions of the portable device for at least one epoch during the first period of time based at least in part on the estimated position information and the map information; and

B) managing the multiple hypotheses based at least in part on the estimated position information and the map information, wherein managing hypotheses comprises at least one of adding, eliminating, electing and combining at least some hypotheses,

wherein the processor is further configured to update the estimated position information for the portable device based at least in part on the managed hypotheses to output an enhanced navigation solution for the at least one epoch using the updated estimated position information.

52. The portable device of claim 51, further comprising a source of absolute navigation information for the portable device, wherein the navigation solution derived for at least one epoch is based at least in part on the absolute navigation information.

53. The portable device of claim 52, wherein the absolute navigation information is obtained from any one or any combination of the following:

(i) a global navigation satellite system (GNSS);

(ii) cell-based positioning;

(iii) WiFi-based positioning;

or (iv) other wireless-based positioning.

54. The portable device of claim 51, wherein the sensor assembly includes an accelerometer and a gyroscope.

55. The portable device of claim 51, wherein the sensor assembly comprises an inertial sensor implemented as a Micro Electro Mechanical System (MEMS).

56. The portable device of claim 51, further comprising memory for storing multiple hypotheses generated by the hypotheses analyzer.

57. A server for enhancing a navigation solution of a portable device and a platform using map information, wherein the mobility of the portable device is constrained or unconstrained within the platform and wherein the portable device may be tilted to any orientation, the server comprising:

a) a communications module for receiving information provided by the portable device, wherein the information corresponds to a plurality of epochs over a first period of time of sensor data representing motion of the portable device; and

b) a processor is configured to implement;

i) a position estimator for providing estimated position information for the portable device based at least in part on a plurality of navigation solutions derived for the epochs at a time subsequent to the first period of time;

ii) a map handler for obtaining map information for an area encompassing locations of the portable device during the first period of time; and

iii) a hypothesis analyzer for;

A) generating multiple hypotheses regarding possible positions of the portable device for at least one epoch during the first period of time based at least in part on the estimated position information and the map information; and

B) managing the multiple hypotheses based at least in part on the estimated position information and the map information, wherein managing hypotheses comprises at least one of adding, eliminating, electing and combining at least some hypotheses,

wherein the processor is further configured to update the estimated position information for the portable device based at least in part on the managed hypotheses to output an enhanced navigation solution for the at least one epoch using the updated estimated position information.

58. The server of claim 57, wherein the information received by the communications module comprises sensor data for the portable device representing motion of the portable device at the epochs and wherein the processor is further configured to derive navigation solutions for the epochs based at least in part on the sensor data.

59. The server of claim 57, wherein the information received by the communications module comprises navigation solutions derived for the epochs by the portable device.

60. The portable device of claim 57, wherein the communications module is configured to transmit the enhanced navigation solution to the portable device.

61. The server of claim 57, further comprising memory for storing multiple hypotheses generated by the hypotheses analyzer.

62. A system for providing an enhanced navigation solution using map information comprising:

a) a portable device comprising an integrated sensor assembly, configured to output sensor data representing motion of the portable device for the portable device at a plurality of epochs over a first period of time and a communications module for transmitting information corresponding to the epochs; and

b) remote processing resources configured to receive the information from the portable device and having a processor configured to implement;

i) a position estimator for providing estimated position information for the portable device based at least in part on a plurality of navigation solutions for the portable device derived for the epochs, at a time subsequent to the first period of time;

ii) a map handler for obtaining map information for an area encompassing locations of the portable device during the first period of time; and

iii) a hypothesis analyzer for;

A) generating multiple hypotheses regarding possible positions of the portable device for at least one epoch during the first period of time based at least in part on the estimated position information and the map information; and

B) managing the multiple hypotheses based at least in part on the estimated position information and the map information, wherein managing hypotheses comprises at least one of adding, eliminating, electing and combining at least some hypotheses,

wherein the processor is further configured to update the estimated position information for the portable device based at least in part on the managed hypotheses to output an enhanced navigation solution for the at least one epoch using the updated estimated position information.

63. The system of claim 62, wherein the information received by the remote processing resources comprises sensor data for the portable device and wherein the remote processing resources are further configured to derive navigation solutions for the epochs based at least in part on the sensor data.

64. The server of claim 62, wherein the portable device further comprises a navigation module configured to derive navigation solutions based at least in part on the sensor data at the plurality of epochs and wherein the communications module transmits the navigation solutions.

65. The system of claim 62, wherein the remote processing resources are further configured to transmit the enhanced navigation solution to the portable device.

66. The system of claim 62, wherein the remote processing resources further comprise memory for storing multiple hypotheses generated by the hypotheses analyzer.