Use of offline algorithm to determine location from previous sensor data when location is requested

• US 10,209,062 B1
• Filed: 07/31/2015
• Issued: 02/19/2019
• Est. Priority Date: 08/01/2014
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google LLC (Alphabet Inc.)
• Inventors: Le Grand, Etienne
• Primary Examiner(s): Henson, Mischita
• Application Number:
  US14/815,460
• Time in Patent Office: 1,299 Days
• CPC Class Codes: G01C 19/00 Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G06F 1/32 Means for saving power
• CPC Class Codes: G06F 1/3234 Power saving characterised by the action undertaken
• CPC Class Codes: G06F 1/325 Power saving in peripheral device

Abstract

Examples describe systems and methods for iteratively determining a signal strength map for a wireless access point (AP) aligned to position coordinates. An example method includes receiving logs of data from devices. For a plurality of iterations, the method includes selecting a set of logs of data having an amount of GPS being less than a given amount of GPS in a previously selected set, determining estimates of signal strength maps for the wireless AP aligned to position coordinates based on the selected set and on given signal strength maps due to a previous iteration, and performing a simultaneous localization and mapping (SLAM) optimization of the possible locations of the wireless AP based on the given signal strength maps and the estimates of the signal strength maps. Based on the iterative optimizations, an output signal strength map is provided for the wireless AP aligned to position coordinates.

Claims

1. A method comprising:

determining sensor data at a plurality of intervals over a time period, wherein determining the sensor data includes using one or more sensors and a sensor processor of a mobile device while a main application processor of the mobile device is in an inactive state in relation to determining the sensor data, wherein the sensor processor is configured to determine the sensor data using less power than the main application processor is configured to use to determine the sensor data;

storing the sensor data in memory of the mobile device as the sensor data is determined;

receiving, by the main application processor, a request to determine a geographic location of the mobile device; and

in response to receiving the request, performing, by the main application processor, a simultaneous localization and mapping (SLAM) algorithm optimization using the stored sensor data to determine the geographic location of the mobile device.

2. The method of claim 1, further comprising the main application processor performing the SLAM algorithm optimization to determine a plurality of geographic locations of the mobile device over the time period that the sensor data was determined.

3. The method of claim 1, wherein storing the sensor data includes storing the sensor data in one or more first-in, first-out (FIFO) queues in the memory of the mobile device.

4. The method of claim 3, further comprising:

determining that one or more elements of the stored sensor data are indicative that the mobile device has remained stationary for an elapsed period of time; and

overwriting the determined one or more elements from the one or more FIFO queues.

5. The method of claim 1, wherein the one or more sensors comprise two or more sensors selected from the group consisting of a global positioning system (GPS) sensor, a Wi-Fi sensor, a gyroscope, an accelerometer, a magnetic sensor, and a pressure sensor.

6. The method of claim 1, wherein the stored sensor data includes a plurality of different sensor data received by a plurality of different sensors.

7. The method of claim 1, wherein the request is received by the main application processor in response to accessing one or more location-based services through the mobile device, wherein the location-based services include one or more of a map application or an internet search application.

8. A non-transitory computer readable medium having stored therein instructions, that when executed by one or more processors, cause the one or more processors to perform functions comprising:

determining sensor data at a plurality of intervals over a time period, wherein determining the sensor data includes using one or more sensors and a sensor processor while a main application processor is in an inactive state in relation to determining the sensor data, wherein the sensor processor is configured to determine the sensor data using less power than the main application processor is configured to use to determine the sensor data;

storing the sensor data in memory as the sensor data is determined;

receiving, by the main application processor, a request to determine a geographic location associated with the stored sensor data; and

in response to receiving the request, performing, by the main application processor, a simultaneous localization and mapping (SLAM) algorithm optimization using the stored sensor data to determine the geographic location associated with the stored sensor data.

9. The non-transitory computer readable medium of claim 8, wherein the functions further comprise performing the SLAM algorithm optimization to determine a plurality of geographic locations associated with the stored sensor data over the time period that the sensor data was determined.

10. The non-transitory computer readable medium of claim 8, wherein storing the sensor data includes storing the sensor data in one or more first-in, first-out (FIFO) queues in the memory.

11. The non-transitory computer readable medium of claim 10, wherein the functions further comprise determining that one or more elements of the stored sensor data are indicative that a mobile device has remained stationary for an elapsed period of time, and overwriting the determined one or more elements from the one or more FIFO queues.

12. The non-transitory computer readable medium of claim 8, wherein the one or more sensors comprise two or more sensors selected from the group consisting of a global positioning system (GPS) sensor, a Wi-Fi sensor, a gyroscope, an accelerometer, a magnetic sensor, and a pressure sensor.

13. The non-transitory computer readable medium of claim 8, wherein the stored sensor data includes a plurality of different sensor data received by a plurality of different sensors.

14. The non-transitory computer readable medium of claim 8, wherein the request is received by the main application processor in response to accessing one or more location-based services through a mobile device, wherein the location-based services include one or more of a map application or an internet search application.

15. A system comprising:

one or more processors; and

data storage configured to store instructions that, when executed by the one or more processors, cause the system to perform functions comprising;

determining sensor data at a plurality of intervals over a time period, wherein determining the sensor data includes using one or more sensors and a sensor processor while a main application processor is in an inactive state in relation to determining the sensor data, wherein the sensor processor is configured to determine the sensor data using less power than the main application processor is configured to use to determine the sensor data;

storing the sensor data in the data storage as the sensor data is determined;

receiving, by the main application processor, a request to determine a geographic location associated with the stored sensor data; and

in response to receiving the request, performing, by the main application processor, a simultaneous localization and mapping (SLAM) algorithm optimization using the stored sensor data to determine the geographic location associated with the stored sensor data.

16. The system of claim 15, wherein the functions further comprise performing the SLAM algorithm optimization to determine a plurality of geographic locations associated with the stored sensor data over the time period that the sensor data was determined.

17. The system of claim 15, wherein storing the sensor data includes storing the sensor data in one or more first-in, first-out (FIFO) queues in the data storage.

18. The system of claim 17, wherein the functions further comprise determining that one or more elements of the stored sensor data are indicative that a mobile device has remained stationary for an elapsed period of time, and overwriting the determined one or more elements from the one or more FIFO queues.

19. The system of claim 15, wherein the one or more sensors comprise two or more sensors selected from the group consisting of a global positioning system (GPS) sensor, a Wi-Fi sensor, a gyroscope, an accelerometer, a magnetic sensor, and a pressure sensor.

20. The system of claim 15, wherein the request is received by the main application processor in response to accessing one or more location-based services through a mobile device, wherein the location-based services include one or more of a map application or an internet search application.