Mobile device indoor navigation

• US 10,254,383 B2
• Filed: 12/05/2014
• Issued: 04/09/2019
• Est. Priority Date: 12/06/2013
• Status: Active Grant

• Current Assignee: Digimarc Corporation
• Original Assignee: Digimarc Corporation
• Inventors: Bradley, Brett A., Sharma, Ravi K., Thagadur Shivappa, Shankar, Lord, John D.
• Primary Examiner(s): Alsomiri, Isam A
• Assistant Examiner(s): Ndure, Amie M
• Application Number:
  US14/562,584
• Publication Number:
  US 20150168538A1
• Time in Patent Office: 1,586 Days
• CPC Class Codes: G01S 5/18 using ultrasonic, sonic, or infrasonic waves

Abstract

Mobile device positioning employs various forms of audio signal structures and detection methodologies. In one method, detection of an audio signal from a first source enables construction of a signal to facilitate detection of an audio signal from another source. Signals detected from these sources enable positioning of the mobile device receiving those signals. Another method forms audio signals transmitted from audio sources so that they have parts that add constructively and parts that differentiate the sources to enable positioning. Another audio signal based positioning method adaptively switches among positioning methods so that positioning remains operative as a mobile device moves toward and away from the sources. Another method tracks positioning history, evaluates it for errors and performs error mitigation to improve accuracy. Various other positioning technologies are detailed as well.

Claims

1. A method of determining position of a mobile device, the method comprising:

from a signal received at the mobile device, detecting at least a first signal encoded in an audio signal from a first audio source;

using the first signal to identify a neighboring audio source, different from the first audio source;

reconstructing a second signal associated with the neighboring audio source, wherein the reconstructing comprises obtaining a scrambling pattern associated with the neighboring audio source and applying the scrambling pattern to a message to reconstruct the second signal, and wherein the message is extracted from the from the first signal;

using the reconstructed second signal to detect a second signal transmitted in audio from the neighboring audio source; and

based on detecting of the first and second signals, determining position of the mobile device.

2. The method of claim 1 wherein said reconstructing comprises modulating a carrier signal according to a message associated with the neighboring audio source.

3. The method of claim 2 wherein the carrier signal comprises a chipping sequence.

4. The method of claim 1 wherein determining position of the mobile device based on detecting the first and second signals comprises detecting a time offset between the first and second signals.

5. The method of claim 1 wherein the first and second signals are embedded in a host audio signal and the first and neighboring audio sources correspond to a first speaker transmitting the host audio with the first signal embedded, and a second speaker transmitting the host signal with the second signal embedded.

6. The method of claim 1 wherein the first and second signals comprise payloads modulated on corresponding carrier signals.

7. The method of claim 6 wherein the payloads and corresponding carrier signals are both different for the first and second signals.

8. The method of claim 1 wherein a filter is adapted based on detecting the first signal, and further including:

filtering the signal received at the mobile device using the adapted filter to reduce the first signal relative to the second signal, and facilitate detecting of the second signal.

9. The method of claim 8 wherein the filter is adapted based on a reconstructed version of the first signal obtained by decoding a message from the received signal, and reconstructing the first signal from the decoded message.

10. The method of claim 1 wherein the first and second signals are encoded using frequency division multiplexing.

11. The method of claim 1 further comprising a method of forming audio signals for determining device positioning, the method comprising:

providing a first signal to be transmitted from a first audio source;

providing a second signal to be transmitted form a second audio source;

wherein the first and second signals are configured to have a common code signal part that adds constructively in a receiver, and a different code signal part that discriminates the first and second audio sources.

12. The method of claim 11 wherein the common and different code parts are encoded using frequency division multiplexing.

13. The method of claim 1 further comprising:

receiving an audio signal;

analyzing the audio signal for code signal types, the code signal types corresponding to audio positioning methods, the methods including two or more of;

strength of signal, proximity, or time difference of arrival; and

switching between positioning methods based on a signal detection.

14. The method of claim 13 wherein signal detection comprises detecting proximity to an audio signal source based on signal strength, and switching from time difference of arrival to proximity or strength of signal based positioning.

15. The method of claim 1 further comprising:

tracking history of device positioning relative to audio sources based on detection of signals from the audio sources; and

computing a positioning estimate of the device relative to the audio sources; and

comparing the positioning to the history to detect potential error in the positioning estimate.

16. The method of claim 15 wherein a positioning estimate based on a signal from an audio source is removed or compensated for in calculating positioning of the device, where the positioning estimate is inconsistent with the history.

17. The method of claim 15, further comprising:

computing a correlation between a received audio signal and a code signal over a sliding time period to provide a correlation space;

tracking a path of correlation peak through the correlation space; and

based on the path, determining a refined correlation metric used to determine a position estimate.

18. The method of claim 17 wherein tracking the path comprises a dynamic time warping method.

19. The method of claim 15, further comprising:

analyzing motion of a device based on sensor input relative to one or more audio sources;

estimating a time scale change of a code signal from one of the audio sources; and

compensating for the time scale change based on the estimate of the time scale change.

20. The method of claim 19, further including:

detecting motion associated with walking and making macro level adjustment to compensate for the motion in detection of an audio signal;

detecting motion associated with hand jitter and making micro level adjustment to compensate for the jitter in detection of an audio signal.

21. The method of claim 1 further comprising:

transmitting signals from sources, the signals forming an interference pattern in which symbols formed by the interference pattern at locations between the sources correspond to a position; and

detecting a symbol from among the symbols from a signal formed from capturing a combination of the signals at the position corresponding to the symbol.

22. The method of claim 21 wherein the signals comprise audio code signals.

23. The method of claim 22 wherein the audio code signals are transmitted so as to be imperceptible by humans yet captured in a mobile device microphone, the symbol being detected from the combination of audio signals from the sources captured through the microphone.