Systems and methods for vehicular positioning using adaptive wireless fingerprinting in a network of moving things including, for example, autonomous vehicles

• US 10,187,751 B2
• Filed: 06/21/2018
• Issued: 01/22/2019
• Est. Priority Date: 07/11/2016
• Status: Active Grant

• Current Assignee: Veniam Inc.
• Original Assignee: Veniam Inc.
• Inventors: Coutinho, Nuno Alexandre Tavares, Cardoso de Moura, Daniel
• Primary Examiner(s): Nguyen, Khai M
• Application Number:
  US16/014,440
• Publication Number:
  US 20180302751A1
• Time in Patent Office: 215 Days
• CPC Class Codes: G01S 2205/01 specially adapted for specific applications
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station
• CPC Class Codes: G01S 5/02526 using non-dedicated equipment, e.g. user equipment or crowd-sourcing
• CPC Class Codes: H04W 4/022 with dynamic range variability
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information
• CPC Class Codes: H04W 84/005 Moving wireless networks

Abstract

Communication network architectures, systems and methods for supporting a network of mobile nodes. As a non-limiting example, various aspects of this disclosure provide communication network architectures, systems, and methods for supporting a dynamically configurable communication network comprising a complex array of both static and moving communication nodes (e.g., the Internet of moving things). For example, systems and method for vehicular positioning based on wireless fingerprinting data in a network of moving things including, for example, autonomous vehicles.

Claims

1. A method of vehicular positioning of nodes of a radio frequency (RF) wireless network comprising a plurality of nodes disposed at respective fixed locations and a plurality of mobile nodes that reside in respective vehicles that move within a service area of the wireless network, and wherein each node of the plurality of nodes comprises one or more communication interfaces configured for scanning an RF wireless environment of the respective node, the method comprising:

determining whether a first mobile node is operating according to a first phase of operation or a second phase of operation;

when the first mobile node is determined to be operating according to the first phase of operation;

determining, based on at least one condition, whether one or more wireless fingerprint samples of the RF wireless environment of the first mobile node are to be obtained,

when it is determined that one or more wireless fingerprint samples are not to be obtained, changing operation of the first mobile node to be according to the second phase of operation, and

when it is determined that one or more wireless fingerprint samples are to be obtained,

identifying sources of RF signals by the first mobile node scanning one or more pre-defined portions of RF spectrum, wherein the scanning generates the one or more wireless fingerprint samples, and

transmitting the one or more wireless fingerprint samples to a remote system that receives wireless fingerprint samples from the plurality of mobile nodes; and

when the first mobile node is determined to be operating according to the second phase of operation;

receiving a first request for an estimated geographic location of the first mobile node,

determining whether a satellite-based estimated geographic location of the first mobile node is available and is of a particular quality level,

when a satellite-based estimated geographic location of the first mobile node is available and is of the particular quality level, providing the satellite-based estimated geographic location in response to the first request, and

when a satellite-based estimated geographic location of the first mobile node of the particular quality level is not available;

scanning one or more pre-defined portions of RF spectrum to generate one or more other wireless fingerprint samples,

sending a second request for an estimated location of the first mobile node and the one or more other wireless fingerprint samples to the remote system,

receiving an estimated location of the first mobile node from the remote system in response to the second request, and

sending, in response to the first request, the estimated location of the first mobile node received from the remote system.

2. The method according to claim 1, wherein the at least one condition comprises one or both of a first condition in which a certain amount of time has elapsed since obtaining a most recent wireless fingerprint sample and a second condition in which a certain amount of distance has been traveled by the first mobile node since obtaining the most recent wireless fingerprint sample.

3. The method according to claim 1, wherein each wireless fingerprint sample comprises data elements that characterize an RF signal received by the first mobile node.

4. The method according to claim 3, wherein each wireless fingerprint sample comprises corresponding coordinate information representative of a satellite-based estimated geographic location within the service area at which the RF environment was sampled.

5. The method according to claim 1, wherein each mobile node of the plurality of mobile nodes comprises a wireless access point configured to provide wireless Internet access to end-user devices.

6. The method according to claim 1, wherein each node of the plurality of nodes periodically wirelessly broadcasts its current geographic location to other nodes of the wireless network.

7. The method according to claim 1, wherein the method further comprises:

when the first mobile node is determined to be operating according to the second phase of operation;

determining whether the first mobile node has received a request to operate according to the first phase of operation, and

when the first mobile node has received a request to operate according to the first phase of operation, changing operation of the first mobile node to be according to the first phase of operation.

8. The method according to claim 1, wherein the method further comprises:

when the first mobile node is determined to be operating according to the first phase of operation;

determining an amount of geographic area served by the first mobile node in which accuracy of estimated geographic locations derived using wireless fingerprint sample data is below a threshold of acceptability, and

changing operation of the first mobile node to be according to the second phase of operation, when the amount of geographic area served by the first mobile node in which accuracy of estimated geographic locations derived using wireless fingerprint sample data is below a threshold of acceptability, is below a certain threshold amount.

9. A non-transitory computer-readable medium on which is stored instructions executable by one or more processors, the executable instructions causing the one or more processors to perform the actions of a method of vehicular positioning of nodes of a radio frequency (RF) wireless network comprising a plurality of nodes disposed at respective fixed locations and a plurality of mobile nodes that reside in respective vehicles that move within a service area of the wireless network, and wherein each node of the plurality of nodes comprises one or more communication interfaces configured for scanning an RF wireless environment of the respective node, the actions comprising:

determining whether a first mobile node is operating according to a first phase of operation or a second phase of operation;

when the first mobile node is determined to be operating according to the first phase of operation;

determining, based on at least one condition, whether one or more wireless fingerprint samples of the RF wireless environment of the first mobile node are to be obtained,

when it is determined that one or more wireless fingerprint samples are not to be obtained, changing operation of the first mobile node to be according to the second phase of operation, and

when it is determined that one or more wireless fingerprint samples are to be obtained,

identifying sources of RF signals by the first mobile node scanning one or more pre-defined portions of RF spectrum, wherein the scanning generates the one or more wireless fingerprint samples, and

transmitting the one or more wireless fingerprint samples to a remote system that receives wireless fingerprint samples from the plurality of mobile nodes; and

when the first mobile node is determined to be operating according to the second phase of operation;

receiving a first request for an estimated geographic location of the first mobile node,

determining whether a satellite-based estimated geographic location of the first mobile node is available and is of a particular quality level,

when a satellite-based estimated geographic location of the first mobile node is available and is of the particular quality level, providing the satellite-based estimated geographic location in response to the first request, and

when a satellite-based estimated geographic location of the first mobile node of the particular quality level is not available;

scanning one or more pre-defined portions of RF spectrum to generate one or more other wireless fingerprint samples,

sending a second request for an estimated location of the first mobile node and the one or more other wireless fingerprint samples to the remote system,

receiving an estimated location of the first mobile node from the remote system in response to the second request, and

sending, in response to the first request, the estimated location of the first mobile node received from the remote system.

10. The non-transitory computer-readable medium according to claim 9, wherein the at least one condition comprises one or both of a first condition in which a certain amount of time has elapsed since obtaining a most recent wireless fingerprint sample and a second condition in which a certain amount of distance has been traveled by the first mobile node since obtaining the most recent wireless fingerprint sample.

11. The non-transitory computer-readable medium according to claim 9, wherein each wireless fingerprint sample comprises data elements that characterize an RF signal received by the first mobile node.

12. The non-transitory computer-readable medium according to claim 11, wherein each wireless fingerprint sample comprises corresponding coordinate information representative of a satellite-based estimated geographic location within the service area at which the RF environment was sampled.

13. The non-transitory computer-readable medium according to claim 9, wherein each mobile node of the plurality of mobile nodes comprises a wireless access point configured to provide wireless Internet access to end-user devices.

14. The non-transitory computer-readable medium according to claim 9, wherein each node of the plurality of nodes periodically wirelessly broadcasts its current geographic location to other nodes of the wireless network.

15. The non-transitory computer-readable medium according to claim 9, wherein the actions of the method further comprise:

when the first mobile node is determined to be operating according to the second phase of operation;

determining whether the first mobile node has received a request to operate according to the first phase of operation, and

when the first mobile node has received a request to operate according to the first phase of operation, changing operation of the first mobile node to be according to the first phase of operation.

16. The non-transitory computer-readable medium according to claim 9, wherein the actions of the method further comprise:

when the first mobile node is determined to be operating according to the first phase of operation;

determining an amount of geographic area served by the first mobile node in which accuracy of estimated geographic locations derived using wireless fingerprint sample data is below a threshold of acceptability, and

changing operation of the first mobile node to be according to the second phase of operation, when the amount of geographic area served by the first mobile node in which accuracy of estimated geographic locations derived using wireless fingerprint sample data is below a threshold of acceptability, is below a certain threshold amount.

17. A system for vehicular positioning of nodes of a radio frequency (RF) wireless network comprising a plurality of nodes disposed at respective fixed locations and a plurality of mobile nodes that reside in respective vehicles that move within a service area of the wireless network, and wherein each node of the plurality of nodes comprises one or more communication interfaces configured for scanning an RF wireless environment of the respective node, the system comprising:

one or more processors operably coupled to storage and communicatively coupled to the plurality of nodes, the one or more processors operable to, at least;

determine whether a first mobile node is operating according to a first phase of operation or a second phase of operation;

when the first mobile node is determined to be operating according to the first phase of operation;

determine, based on at least one condition, whether one or more wireless fingerprint samples of the RF wireless environment of the first mobile node are to be obtained,

when it is determined that one or more wireless fingerprint samples are not to be obtained, change operation of the first mobile node to be according to the second phase of operation, and

when it is determined that one or more wireless fingerprint samples are to be obtained,

identify sources of RF signals by the first mobile node scanning one or more pre-defined portions of RF spectrum, wherein the scanning generates the one or more wireless fingerprint samples, and

transmit the one or more wireless fingerprint samples to a remote system that receives wireless fingerprint samples from the plurality of mobile nodes; and

when the first mobile node is determined to be operating according to the second phase of operation;

receive a first request for an estimated geographic location of the first mobile node,

determine whether a satellite-based estimated geographic location of the first mobile node is available and is of a particular quality level,

when a satellite-based estimated geographic location of the first mobile node is available and is of the particular quality level, provide the satellite-based estimated geographic location in response to the first request, and

when a satellite-based estimated geographic location of the first mobile node of the particular quality level is not available;

scan one or more pre-defined portions of RF spectrum to generate one or more other wireless fingerprint samples,

send a second request for an estimated location of the first mobile node and the one or more other wireless fingerprint samples to the remote system,

receive an estimated location of the first mobile node from the remote system in response to the second request, and

send, in response to the first request, the estimated location of the first mobile node received from the remote system.

18. The system according to claim 17, wherein the at least one condition comprises one or both of a first condition in which a certain amount of time has elapsed since obtaining a most recent wireless fingerprint sample and a second condition in which a certain amount of distance has been traveled by the first mobile node since obtaining the most recent wireless fingerprint sample.

19. The system according to claim 17, wherein each wireless fingerprint sample comprises data elements that characterize an RF signal received by the first mobile node.

20. The system according to claim 19, wherein each wireless fingerprint sample comprises corresponding coordinate information representative of a satellite-based estimated geographic location within the service area at which the RF environment was sampled.

21. The system according to claim 17, wherein each mobile node of the plurality of mobile nodes comprises a wireless access point configured to provide wireless Internet access to end-user devices.

22. The system according to claim 17, wherein each node of the plurality of nodes periodically wirelessly broadcasts its current geographic location to other nodes of the wireless network.

23. The system according to claim 17, wherein the one or more processors are further operable to, at least:

when the first mobile node is determined to be operating according to the second phase of operation;

determine whether the first mobile node has received a request to operate according to the first phase of operation, and

when the first mobile node has received a request to operate according to the first phase of operation, change operation of the first mobile node to be according to the first phase of operation.

24. The system according to claim 17, wherein the one or more processors are further operable to, at least:

when the first mobile node is determined to be operating according to the first phase of operation;

determine an amount of geographic area served by the first mobile node in which accuracy of estimated geographic locations derived using wireless fingerprint sample data is below a threshold of acceptability, and

change operation of the first mobile node to be according to the second phase of operation, when the amount of geographic area served by the first mobile node in which accuracy of estimated geographic locations derived using wireless fingerprint sample data is below a threshold of acceptability, is below a certain threshold amount.