Calibration of a Navigation System
First Claim
1. A method for correcting position error in a navigation system comprising the steps of:
- (a) determining a first set of positioning measurements of a device from signals received from a first plurality of sources;
(b) determining a second set of positioning measurements of the device from signals received from a second plurality of sources;
(c) providing a database comprising map-related information of a predetermined region;
(d) estimating a location of the device as a function of the first and second set of positioning measurements and selected map-related information; and
(e) compensating errors in future estimated locations in said system by determining a divergence of said second set from said first set of positioning measurements.
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Abstract
A method and apparatus for correcting position error in a navigation system. A first set of positioning measurements of a device are determined from signals received from a first plurality of sources and a second set of positioning measurements of the device are determined from signals received from a second plurality of sources. A database comprising map-related information of a predetermined region is provided and a location of the device as a function of the first and second set of positioning measurements and selected map-related information is estimated. Errors in future estimated locations in a navigational system may be compensated by determining a divergence of the second set from the first set of positioning measurements. A navigational system that refines its accuracy over time is demonstrated whereby current estimates of location may be improved and data mapping utilized for future location estimates may be updated.
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Citations
54 Claims
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1. A method for correcting position error in a navigation system comprising the steps of:
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(a) determining a first set of positioning measurements of a device from signals received from a first plurality of sources; (b) determining a second set of positioning measurements of the device from signals received from a second plurality of sources; (c) providing a database comprising map-related information of a predetermined region; (d) estimating a location of the device as a function of the first and second set of positioning measurements and selected map-related information; and (e) compensating errors in future estimated locations in said system by determining a divergence of said second set from said first set of positioning measurements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An apparatus for correcting position error in a system comprising:
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(a) a receiver for receiving a first set of signals from a first plurality of sources and a second set of signals from a second plurality of sources; (b) circuitry for determining a first set of positioning measurements of a device from said first plurality of sources and for determining a second set of positioning measurements of said device from said second plurality of sources; (c) a database comprising map-related information of a predetermined region; (d) circuitry for estimating a location of the device as a function of the first and second set of positioning measurements and selected map-related information; and (e) circuitry for compensating errors in future estimated locations in said system by determining a divergence of said second set from said first set of positioning measurements. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A method for refining a set of calibration data in a navigational system comprising the steps of:
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(a) determining a first set of positional information of a device from signals received from a first plurality of sources; (b) determining a second set of positional information of the device from signals received from a second plurality of sources; (c) estimating a location of the device as a function of the first and second set of positioning measurements; (d) determining a difference between said second set and said first set of positional information; (e) providing a database comprising map-related information of a predetermined region and vectors of said estimated location to corresponding map-related information; and (f) refining a set of calibration data in said system as a function of said difference by iteratively repeating steps (a)-(d). - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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36. An apparatus for refining a set of calibration data in a navigational system comprising:
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(a) a receiver for receiving signals from a first plurality of sources and a second plurality of sources; (b) circuitry for determining a first set of positioning measurements of a device from said first plurality of sources and for determining a second set of positioning measurements of said device from said second plurality of sources; (c) a database comprising map-related information of a predetermined region; (d) circuitry for estimating a location of the device as a function of the first and second set of positioning measurements and selected map-related information; (e) circuitry for determining a difference between said second set and said first set of positioning measurements; and (f) circuitry for refining a set of calibration data in said system as a function of said difference. - View Dependent Claims (37, 38, 39, 40, 41, 42, 43, 44, 45, 46)
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47. A method for refining locations in a navigational system comprising the steps of:
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(a) determining a first set of positional information of a device from signals received from a first plurality of sources; (b) determining a second set of positional information of the device from signals received from a second plurality of sources; (c) estimating a location of the device as a function of the first and second set of positioning measurements; (d) determining a difference between said second set and said first set of positional information; (e) providing a database comprising map-related information of a predetermined region and vectors of said estimated location to corresponding map-related information; and (f) refining a future estimated location of a device in said system as a function of said difference by iteratively repeating steps (a)-(d). - View Dependent Claims (48, 49, 50, 51, 52, 53, 54)
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Specification