Road registration differential GPS

• US 10,459,087 B2
• Filed: 04/26/2016
• Issued: 10/29/2019
• Est. Priority Date: 04/26/2016
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: Uber Technologies, Inc.
• Inventors: Browning, Brett
• Primary Examiner(s): Phan, Dao L
• Application Number:
  US15/138,935
• Publication Number:
  US 20170307763A1
• Time in Patent Office: 1,281 Days
• Field of Search: 342174, 34235721, 34235724, 34235725, 34235762, 701470, 701473
• CPC Class Codes: G01S 19/07 providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• 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 19/485 whereby the further system is an optical system or imaging system

Abstract

A system and method of calibrating satellite signals broadcast by one or more satellites of a satellite positioning system. The system receives sensor data from one or more sensors provided on a vehicle. The system further detects satellite signals from the one or more satellites, and determines timing offsets associated with the satellite signals from each of the one or more satellites based at least in part on the sensor data. For example, the one or more sensors may include at least one of a camera or a rangefinder, and the sensor data may correspond to a three-dimensional sensor image that may be used to determine a location of the vehicle.

Claims

1. A method of calibrating satellite signals broadcast by one or more satellites of a satellite positioning system, the method comprising:

receiving sensor data from one or more sensors provided on a vehicle;

detecting satellite signals from the one or more satellites; and

determining timing offsets of the satellite signals from each of the one or more satellites based at least in part on the sensor data, wherein determining the timing offsets of the satellite signals comprises determining a location of the vehicle by;

comparing the sensor data to a map of registered locations; and

determining a relative proximity of the vehicle to one or more of the registered locations based on comparing the sensor data to the map of registered location.

2. The method of claim 1, wherein the map of registered locations is generated based at least in part on previously-acquired sensor data.

3. The method of claim 1, wherein determining the timing offsets of the satellite signals further comprises:

calculating respective distances to each of the one or more satellites based at least in part on the location of the vehicle.

4. The method of claim 3, wherein determining timing offsets of the satellite signals further comprises:

determining propagation times of the satellite signals from each of the one or more satellites;

calculating expected propagation times for the satellite signals based at least in part on the respective distances to each of the one or more satellites; and

comparing the propagation times with the expected propagation times to determine the timing offsets.

5. The method of claim 1, wherein the one or more sensors includes at least one of a camera or a rangefinder.

6. The method of claim 1, wherein the sensor data corresponds to a three-dimensional (3D) sensor image.

7. The method of claim 1, further comprising:

updating the timing offsets based at least in part on movements of the vehicle.

8. The method of claim 1, further comprising:

communicating the timing offsets to one or more satellite receivers within a threshold proximity of the vehicle.

9. A satellite signal calibration system, comprising:

one or more processors; and

a memory storing instructions that, when executed by the one or more processors, cause the system to;

receive sensor data from one or more sensors provided on a vehicle;

detect satellite signals from one or more satellites of a satellite positioning system; and

determine timing offsets of the satellite signals from each of the one or more satellites based at least in part on the sensor data, wherein execution of the instructions to determine the timing offsets of the satellite signals comprises determining a location of the vehicle by;

comparing the sensor data to a map of registered locations; and

determining a relative proximity of the vehicle to one or more of the registered locations based on comparing the sensor data to the map of registered locations.

10. The system of claim 9, wherein the map of registered locations is generated based at least in part on previously-acquired sensor data.

11. The system of claim 9, wherein execution of the instructions to determine the timing offsets further causes the system to:

calculate respective distances to each of the one or more satellites based at least in part on the location of the vehicle.

12. The system of claim 11, wherein execution of the instructions to determine the timing offsets further causes the system to:

determine propagation times of the satellite signals from each of the one or more satellites;

calculate expected propagation times for the satellite signals based at least in part on the respective distances to each of the one or more satellites; and

compare the propagation times with the expected propagation times to determine the timing offsets.

13. The system of claim 9, wherein the one or more sensors includes at least one of a camera or a rangefinder.

14. The system of claim 9, wherein the sensor data corresponds to a three-dimensional (3D) sensor image.

15. The system of claim 9, wherein execution of the instructions further causes the system to:

update the timing offsets based at least in part on movements of the vehicle.

16. A non-transitory computer-readable storage medium containing instructions that, when executed by one or more processors of a satellite signal calibration system, causes the system to:

receive sensor data from one or more sensors provided on a vehicle;

detect satellite signals from one or more satellites of a satellite positioning system; and

determine timing offsets of the satellite signals from each of the one or more satellites based at least in part on the sensor data;

wherein execution of the instructions to determine the timing offsets causes the system to (i) determine a location of the vehicle based at least in part on the sensor data, (ii) calculate respective distances to each of the one or more satellites based at least in part on the location of the vehicle, (iii) determine propagation times of the satellite signals from each of the one or more satellites, (iv) calculate expected propagation times for the satellite signals based at least in part on the respective distances to each of the one or more satellites, and (v) compare the propagation times with the expected propagation times to determine the timing offsets.