Method and system for mobile device localization region in trusted-GPS region

• US 10,345,452 B1
• Filed: 11/05/2018
• Issued: 07/09/2019
• Est. Priority Date: 11/05/2018
• Status: Active Grant

• Current Assignee: Mapsted Corp.
• Original Assignee: Mapsted Corp.
• Inventors: Huberman, Sean, Gulo, Eros
• Primary Examiner(s): Elhag, Magdi
• Application Number:
  US16/180,301
• Time in Patent Office: 246 Days
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 19/08 providing integrity information, e.g. health of satellites or quality of ephemeris data
• CPC Class Codes: G01S 19/39 the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/426 by combining or switching between position solutions or signals derived from different modes of operation in a single system
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 2205/02 Indoor
• CPC Class Codes: G01S 5/014 Identifying transitions between environments
• 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 4/024 Guidance services
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings
• CPC Class Codes: H04W 64/003 locating network equipment

Abstract

A method and system for localizing a mobile device having a processor and a memory. The method comprises, using the processor, localizing the mobile device during navigation of a sequence of positions along an indoor area based on a data fusion of fingerprint data, detecting, using the processor, a boundary of a trusted-global positioning system (trusted-GPS) positioning region within the indoor area, and upon navigating to the boundary, localizing the mobile device based on GPS position data acquired at the memory of the mobile device.

Claims

1. A method for localizing a mobile device having a processor and a memory, the method comprising:

using the processor, localizing the mobile device during navigation of a sequence of positions along an indoor area based on a data fusion of fingerprint data;

detecting, using the processor, a boundary of a trusted-global positioning system (trusted-GPS) positioning region within the indoor area, based on the localizing of the mobile device in the indoor area; and

upon navigating to the boundary, localizing the mobile device based on GPS position data and a subset of the fingerprint data acquired at the memory of the mobile device, the GPS position data being assigned a higher weight than the subset of the fingerprint data while localizing.

2. The method of claim 1 wherein the indoor area comprises one of a shopping mall, an airport, a warehouse, a campus building and an at least partially enclosed building.

3. The method of claim 1 wherein the data fusion is based on fingerprint data that includes at least two of wireless signal data, inertial data, magnetic data, barometric data and optical data, the fingerprint data being time-stamped and time-correlated for respective positions in the sequence of positions.

4. The method of claim 3 wherein the fingerprint data is acquired using a set of sensors of the mobile device, the sensors including at least one of an accelerometer, a gyroscope, a magnetometer, a barometer, and a wireless signal strength sensor.

5. The method of claim 3 wherein the fingerprint data includes at least one of an orientation, a magnetic field strength and direction, a received wireless signal strength, and a barometric pressure.

6. The method of claim 1 wherein the GPS position data is acquired using a GPS module of the mobile device.

7. The method of claim 1 further comprising, upon navigating to the boundary, modifying the data fusion, modified data fusion being based on the subset of the fingerprint data, the subset of the fingerprint data excluding at least one of wireless signal data, magnetic data, and inertial data.

8. The method of claim 7 wherein the modifying comprises switching off at least one sensor of the mobile device.

9. The method of claim 7 wherein the modifying comprises terminating processing of fingerprint databased on at least one wireless signal sensor of the mobile device.

10. The method of claim 7 wherein the boundary encompasses the trusted-GPS positioning region, and further comprising maintaining the modified state while navigating within the trusted-GPS positioning region.

11. A mobile device comprising:

a processor; and

a memory storing a set of instructions, the instructions executable in the processor to;

localize the mobile device during navigation of a sequence of positions along an indoor area based on a data fusion of fingerprint data;

detect a boundary of a trusted-global positioning system (trusted-GPS) positioning region within the indoor area based on the localizing of the mobile device in the indoor area; and

upon navigating to the boundary, localize the mobile device based on GPS position data and a subset of the fingerprint data acquired at the memory of the mobile device, the GPS position data being assigned a higher weight than the subset of the fingerprint data while localizing.

12. The mobile device of claim 11 wherein the area is an indoor area within at least one of a shopping mall, an airport, a warehouse, a university and an at least partially enclosed building.

13. The mobile device of claim 11 wherein the data fusion is based on fingerprint data that includes at least two of wireless signal data, inertial data, magnetic data, barometric data and optical data, the fingerprint data being time-stamped and time-correlated for respective positions in the sequence of positions.

14. The mobile device of claim 13 wherein the fingerprint data is acquired using a set of sensors of the mobile device, the sensors including at least one of an accelerometer, a gyroscope, a magnetometer, a barometer, and a wireless signal strength sensor.

15. The mobile device of claim 13 wherein the fingerprint data includes at least one of an orientation, a magnetic field strength and direction, a received wireless signal strength, and a barometric pressure.

16. The mobile device of claim 11 wherein the GPS position data is acquired using a GPS module of the mobile device.

17. The mobile device of claim 11 wherein further comprising, upon navigating to the boundary, modifying the data fusion, modified data fusion being based on the subset of the fingerprint data, the subset of the fingerprint data excluding at least one of wireless signal data, magnetic data, and inertial data.

18. The mobile device of claim 17 wherein the modifying comprises switching off at least one sensor of the mobile device.

19. The mobile device of claim 17 wherein the modifying comprises terminating processing of fingerprint databased on at least one wireless signal sensor of the mobile device.

20. The mobile device of claim 17 wherein the boundary encompasses the trusted-GPS positioning region, and further comprising maintaining the modified state while navigating within the trusted-GPS positioning region.