Determining quality of a location-determination algorithm associated with a mobile device by processing a log of sensor data

• US 10,274,346 B2
• Filed: 07/30/2014
• Issued: 04/30/2019
• Est. Priority Date: 07/30/2014
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google LLC (Alphabet Inc.)
• Inventors: Le Grand, Etienne, Christie, David Nicholas
• Primary Examiner(s): Ngon, Ricky
• Application Number:
  US14/447,517
• Publication Number:
  US 20160033265A1
• Time in Patent Office: 1,735 Days
• Field of Search: 702150
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G01D 9/00 Recording measured values

Abstract

Methods and systems for evaluating the quality of a location-determination algorithm of a mobile device are described. An example method may involve receiving a log of sensor data that may include sensor values output by given sensors of a mobile device over a time period, and at least one location estimate for at least one respective point in time within the time period. One or more processors may then determine, using the sensor values, an estimated trajectory that includes a plurality of computed ground-truth locations of the mobile device over the time period. Further, the method may involve determining a difference between a given location estimate and a computed ground-truth location of the plurality of computed ground-truth locations. And the method may involve providing an output indicative of whether the determined difference satisfies a predetermined threshold.

Claims

1. A method comprising:

receiving a log of sensor data, wherein the log of sensor data comprises (i) sensor values output by given sensors of a plurality of sensors of a mobile device over a time period, and (ii) at least one location estimate for at least one respective point in time within the time period, wherein the at least one location estimate is determined by a hardware location provider of the mobile device, and wherein the at least one location estimate is determined while use of the hardware location provider on the mobile device in conjunction with location-based services is disabled but use of another location provider in conjunction with location-based services is enabled;

determining, by one or more processors and using the sensor values of the log of sensor data, a plurality of computed ground-truth locations of the mobile device over the time period, the plurality of computed ground-truth locations of the mobile device forming an estimated trajectory of the mobile device for the time period;

determining a difference between a given location estimate of the at least one location estimate and a computed ground-truth location of the plurality of computed ground-truth locations, wherein the given location estimate corresponds to a first point in time and the computed ground-truth location corresponds to a second point in time that is within a predetermined range of time of the first point in time;

determining whether the determined difference satisfies a predetermined threshold; and

upon determining that the determined difference satisfies the predetermined threshold, enabling use of the hardware location provider by the mobile device in conjunction with location-based services instead of or in addition to use of the other location provider.

2. The method of claim 1, wherein the plurality of sensors comprises at least two sensors selected from the group consisting of:

an accelerometer, a gyroscope, a magnetometer, a global positioning system (GPS) receiver, a Wi-Fi sensor, a Bluetooth sensor, a barometer, and a pedometer.

3. The method of claim 1, wherein determining the plurality of computed ground-truth locations comprises determining a path of the mobile device for the time period using at least one GPS-based location estimate and additional sensor values output by at least one sensor of the plurality of sensors as inputs to a dead reckoning algorithm, wherein the dead reckoning algorithm uses the at least one GPS-based location estimate as a starting point and advances or backtracks a position of the mobile device using the additional sensor values.

4. The method of claim 1, further comprising determining the plurality of computed ground-truth locations using the sensor values of the log of sensor data as inputs to a simultaneous localization and mapping algorithm.

5. The method of claim 1, further comprising determining the plurality of computed ground-truth locations by localizing, using the sensor values of the log of sensor data, a position of the mobile device within a known map.

6. The method of claim 1, wherein the hardware location provider is configured to output a location estimate without using a main application processor of the mobile device.

7. The method of claim 1, wherein the other location provider is configured to output a location estimate using a main application processor of the mobile device.

8. The method of claim 1, wherein the log of sensor data comprises a log of sensor data collected by the mobile device while the mobile device is transitioning from an indoor environment to an outdoor environment.

9. The method of claim 1, wherein the other location provider is a preferred software algorithm for location determination.

10. The method of claim 1, further comprising:

receiving data indicative of a current location of the mobile device;

determining, based on the data indicative of the current location of the mobile device, that the mobile device is located within a predetermined distance of one of a plurality of predetermined geographic locations; and

causing the mobile device to collect the log of sensor data.

11. The method of claim 1, wherein the one or more processors comprise one or more processors of the mobile device.

12. The method of claim 1, wherein the one or more processors comprise one or more processors of a computing device that is configured to receive the log of sensor data from the mobile device.

13. The method of claim 1, wherein enabling use of the hardware location provider by the mobile device comprises sending an instruction to the mobile device authorizing the mobile device to use the hardware location provider in conjunction with the location-based services.

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

receiving a log of sensor data, wherein the log of sensor data comprises (i) sensor values output by given sensors of a plurality of sensors of a mobile device over a time period, and (ii) at least one location estimate for at least one respective point in time within the time period, wherein the at least one location estimate is determined by a hardware location provider of the mobile device while use of the hardware location provider on the mobile device in conjunction with location-based services is disabled but use of another location provider in conjunction with location-based services is enabled;

determining, using the sensor values of the log of sensor data, a plurality of computed ground-truth locations of the mobile device over the time period, the plurality of computed ground-truth locations of the mobile device forming an estimated trajectory of the mobile device for the time period;

determining a difference between a given location estimate of the at least one location estimate and a computed ground-truth location of the plurality of computed ground-truth locations, wherein the given location estimate corresponds to a first point in time and the computed ground-truth location corresponds to a second point in time that is within a predetermined range of time of the first point in time;

determining whether the determined difference satisfies a predetermined threshold; and

upon determining that the determined difference satisfies the predetermined threshold, enabling use of the hardware location provider by the mobile device in conjunction with location-based services instead of or in addition to use of the other location provider.

15. The non-transitory computer-readable medium of claim 14, further comprising determining the plurality of computed ground-truth locations using the sensor values of the log of sensor data as inputs to a simultaneous localization and mapping algorithm.

16. The non-transitory computer-readable medium of claim 14, wherein the hardware location provider is configured to output a location estimate without using a main application processor of the mobile device.

17. A system comprising:

at least one processor; and

a computer-readable medium, configured to store instructions, that when executed by the at least one processor, cause the system to perform functions comprising;

receiving a log of sensor data, wherein the log of sensor data comprises (i) sensor values output by given sensors of a plurality of sensors of a mobile device over a time period, and (ii) at least one location estimate for at least one respective point in time within the time period, wherein the at least one location estimate is determined by a hardware location provider of the mobile device while use of the hardware location provider on the mobile device in conjunction with location-based services is disabled but use of another location provider in conjunction with location-based services is enabled,

determining, using the sensor values of the log of sensor data, a plurality of computed ground-truth locations of the mobile device over the time period, the plurality of computed ground-truth locations of the mobile device forming an estimated trajectory of the mobile device for the time period,

determining a difference between a given location estimate of the at least one location estimate and a computed ground-truth location of the plurality of computed ground-truth locations, wherein the given location estimate corresponds to a first point in time and the computed ground-truth location corresponds to a second point in time that is within a predetermined range of time of the first point in time,

determining whether the determined difference satisfies a predetermined threshold, and

upon determining that the determined difference satisfies the predetermined threshold, enabling use of the hardware location provider by the mobile device in conjunction with location-based services instead of or in addition to use of the other location provider.

18. The system of claim 17, further comprising determining the plurality of computed ground-truth locations using the sensor values of the log of sensor data as inputs to a simultaneous localization and mapping algorithm.