Method and system for determining position of an inertial computing device in a distributed network

• US 10,187,757 B1
• Filed: 02/18/2016
• Issued: 01/22/2019
• Est. Priority Date: 07/12/2010
• Status: Active Grant

• Current Assignee: Palantir Technologies Incorporated
• Original Assignee: Palantir Technologies Incorporated
• Inventors: Thompson, James
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US15/047,405
• Time in Patent Office: 1,069 Days
• Field of Search: 701400-541, 4554561, 4554566, 455 412, 4554141, 340901, 340902, 3409322, 340988, 3404261, 3404255, 3404267, 3404269, 34042621, 340445, 34099513, 34235727, 34235759, 34235774, 34235763
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G06F 1/1632 External expansion units, e.g. docking stations
• CPC Class Codes: H04B 5/77 for interrogation
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/021 Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
• CPC Class Codes: H04W 4/026 using orientation information, e.g. compass
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/80 Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Abstract

A system for retrieving information about a position of a mobile computing device for use in an application, which includes a network of local positioning docks (PDs), each capable of docking a mobile computing device by restricting three dimensions of a physical position of the mobile computing device near one of the PDs; a database capable of storing information about the positions of the PDs within the network; a calculator capable of determining, based on a position of a positioning dock (PD), the position of the mobile computing device; and an application programming interface (API) connected to the database and capable of outputting the position of a PD to the mobile computing device.

Claims

1. A system comprising:

a database configured to simultaneously store, for each of a plurality of positioning docks each configured to allow docking of a mobile computing device, pre-determined information including;

respective information indicative of estimations of fixed three dimensional positions and orientations of the mobile computing device when the mobile computing device is docked with the positioning docks; and

respective unique identifiers associated with the positioning docks; and

a processor configured to, while a first positioning dock of the plurality of positioning docks is located in a fixed position relative to a second positioning dock of the plurality of positioning docks;

receive a first indication of a first unique identifier associated with the first positioning dock at which the mobile computing device is or was docked;

in response to receiving the first indication of the first unique identifier, retrieving a first estimated three dimensional position and orientation of the mobile computing device from the pre-determined information stored in the database so as to calibrate to the first estimated three dimensional position and orientation of the mobile computing device;

receive, from one or more sensors, position data indicative of a movement of the mobile computing device after docking with the first positioning dock; and

calculate, based on the received position data and the first estimated three dimensional position and orientation, a second estimated three dimensional position and orientation of the mobile computing device with reference to the first estimated three dimensional position and orientation, wherein;

the second estimated three dimensional position and orientation of the mobile computing device comprises an estimated position of the mobile computing device in three dimensional space, and

the first estimated three dimensional position and orientation is more precise than the second estimated three dimensional position and orientation.

2. The system of claim 1, wherein the processor is further configured to:

store, in the database, the second estimated three dimensional position and orientation of the mobile computing device.

3. The system of claim 2, wherein the processor is further configured to:

receive a second indication of a second unique identifier associated with the second positioning dock at which the mobile computing device is or was docked after being docked with the first positioning dock;

determine, based on the second unique identifier, a third estimated three dimensional position and orientation of the mobile computing device when the mobile computing device was docked with the second positioning dock;

receive position data indicative of a movement of the mobile computing device between docking with the first positioning dock and docking with the second positioning dock; and

calculate, based on the received position data and the first and third estimated three dimensional positions and orientations of the mobile computing device when the mobile computing device was docked with the respective first and second positioning docks, a fourth estimated three dimensional position and orientation of the mobile computing device with reference to the first and third estimated three dimensional positions and orientations.

4. The system of claim 3, wherein the processor is further configured to:

store, in the database, the fourth estimated three dimensional position and orientation of the mobile computing device.

5. The system of claim 4, wherein the second estimated three dimensional position and orientation of the mobile computing device and the fourth estimated three dimensional position and orientation of the mobile computing device both comprise an estimated three dimensional position and orientation of the mobile computing device at a same point in time.

6. The system of claim 5, wherein the fourth estimated three dimensional position and orientation of the mobile computing device replaces, in the database, the first estimated three dimensional position and orientation of the mobile computing device.

7. The system of claim 3, wherein at least one of the first indication or the second indication is received from the mobile computing device, and wherein global positioning system coordinates of the mobile computing device are used to provide the at least one of the first indication or the second indication.

8. The system of claim 3, wherein the processor is further configured to:

calculate, based on the received position data and the information indicative of the first and third estimated three dimensional positions and orientations of the mobile computing device when the mobile computing device was docked with the respective first and second positioning docks, an updated estimated three dimensional position and orientation of the mobile computing device when the mobile computing device is docked with the second positioning dock; and

store, in the database, the updated estimated three dimensional position and orientation of the mobile computing device when the mobile computing device is docked with the second positioning dock.

9. The system of claim 1, wherein at least some of the plurality of positioning docks are mounted within a moving environment such as a car, phone, or boat.

10. The system of claim 9, further comprising a reference-positioning device that tracks inertial positioning of the moving environment to provide a reference for its motion.

11. The system of claim 1, wherein at least one of:

each of at least some of the plurality of positioning docks includes a sticker displaying the respective associated unique identifiers, the sticker useable by an operator of the mobile computing device to manually enter the unique identifiers into the mobile computing device;

each of at least some of the plurality of positioning docks includes a graphical encoding including the respective associated unique identifiers, the graphical encoding detectable with an imaging device of the mobile computing device;

each of at least some of the plurality of positioning docks is configured to relay identifying information, including an indication of the respective associated unique identifiers, to the mobile computing device through a magnetometer;

or

each of at least some of the plurality of positioning docks includes an RFID tag useable to be scanned by the mobile computing device to obtain the respective associated unique identifiers.

12. The system of claim 1, wherein the stored estimations of the three dimensional positions and orientations of the mobile computing device when the mobile computing device is docked with the respective positioning docks comprise at least one of:

respective estimations of absolute three dimensional positions and orientations, or respective estimations of relative three dimensional positions and orientations.

13. The system of claim 1, wherein the position data indicative of the movement of the mobile computing device is received from the mobile computing device.

14. The system of claim 13, wherein the position data indicative of the movement of the mobile computing device is obtained based on at least one of:

gyroscope position and orientation data provided by a gyroscope of the mobile computing device, accelerometer position and orientation data provided by an accelerometer of the mobile computing device, or compass position and orientation data provided by a compass of the mobile computing device.

15. The system of claim 1, wherein the information indicative of the estimations of the fixed three dimensional positions and orientations of the mobile computing device when the mobile computing device is docked with the respective positioning docks is useable to determine estimated three dimensional positions and orientations of any of a plurality of mobile computing devices.

16. The system of claim 1 further comprising:

an application programming interface in communication with the database and configured to provide, to the mobile computing device, the information indicative of the estimations of the fixed three dimensional positions and orientations of the mobile computing device when the mobile computing device is docked with the respective positioning docks.

17. The system of claim 1 further comprising:

an application programming interface in communication with the database and configured to provide, to the mobile computing device, the estimated three dimensional positions and orientations of the mobile computing device.

18. The system of claim 1, wherein the processor is further configured to:

access, using the first indication of the first unique identifier, and from the database, the information indicative of the first estimated three dimensional position and orientation of the mobile computing device when the mobile computing device is docked with the first positioning dock.

19. The system of claim 1, wherein the first estimated three dimensional position and orientation has a first positional fidelity and orientation precision, and wherein the second estimated three dimensional position and orientation has a second positional fidelity and orientation precision less than the first positional fidelity and orientation precision.

20. A computer-implemented method comprising:

receiving from one or more sensors, at a computer processor of a computing system, position and orientation data indicative of a movement of a mobile computing device between docking with a first positioning dock and docking with a second positioning dock, wherein the first and second positioning docks are of a plurality of positioning docks configured to allow docking of the mobile computing device;

accessing, by the computer processor of the computing system, a database simultaneously storing, for each of the plurality of positioning docks, pre-determined information including respective information indicative of estimations of fixed three dimensional positions and orientations of the mobile computing device when the mobile computing device is docked with the positioning docks;

calculating, by the computer processor of the computing system and while the first positioning dock is located in a fixed position relative to the second positioning dock, a first estimated three dimensional position and orientation of the mobile computing device based on;

the position and orientation data indicative of the movement of the mobile computing device between docking with the first positioning dock and docking with the second positioning dock,

from the pre-determined information, a second estimated three dimensional position and orientation of the mobile computing device when the mobile computing device is docked with the first positioning dock that is usable for calibrating the second estimated three dimensional position and orientation of the mobile computing device, and

from the pre-determined information, a third estimated three dimensional position and orientation of the mobile computing device when the mobile computing device is docked with the second positioning dock; and

outputting the first estimated position and orientation of the mobile computing device to a position-based software application,

wherein the first estimated three dimensional position and orientation of the mobile computing device comprises an estimated three dimensional position of the mobile computing device in three dimensional space, and

wherein the second estimated three dimensional position and orientation is more precise than the first estimated three dimensional position and orientation.

21. The computer-implemented method of claim 20, wherein the one or more sensors are associated with the mobile computing device, wherein the position and orientation data is generated by the one or more sensors, and wherein the one or more sensors include at least one of:

a gyroscope, an accelerometer, or a compass.

22. The computer-implemented method of claim 20, wherein the second estimated three dimensional position and orientation has a first positional fidelity and orientation precision, and wherein the first estimated three dimensional position and orientation has a second positional fidelity and orientation precision less than the first positional fidelity and orientation precision.