DEAD RECKONING ELEVATION COMPONENT ADJUSTMENT

• US 20100250134A1
• Filed: 03/24/2009
• Published: 09/30/2010
• Est. Priority Date: 03/24/2009
• Status: Abandoned Application

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Bornstein, Gilad, Strauss, Nir, Eitan, Alecsander P.
• Application Number:
  US12/410,316
• Publication Number:
  US 20100250134A1
• Time in Patent Office: Days
• US Class Current: 701/220
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 22/006 Pedometers

Abstract

The subject matter disclosed herein relates to adjusting an elevation component of a estimated location based, at least in part, on sensor-based dead reckoning.

Claims

1. A method, comprising:

determining an estimated initial position for a mobile station, wherein the estimated initial position comprises an elevation component;

detecting an interior feature of a building at least in part by detecting a change in position of the mobile station with respect to said estimated initial position in response to sensor data by detecting a change in the elevation component; and

adjusting the detected change in the elevation component using information related to the detected interior feature.

2. The method of claim 1, wherein the interior feature comprises one or more of a staircase, an elevator, an escalator, and/or a ramp.

3. The method of claim 2, wherein said detecting the interior feature comprises associating movement of the mobile station with movement of a user on one of the interior features.

4. The method of claim 3, wherein said adjusting the detected change in the elevation component comprises comparing the information related to the detected interior feature with information from a database related to a building associated with the estimated initial position.

5. The method of claim 3, further comprising, if the detected interior feature comprises the staircase:

detecting the change in position of the mobile station by detecting one or more vertical movements consistent with the user climbing the stairway and determining one or more vertical displacements for the one or more detected vertical movements; and

adjusting the detected change in the elevation component by averaging the one or more vertical displacements and multiplying the average by the number of vertical movements, and by adding the result to the elevation component of the estimated initial position.

6. The method of claim 3, further comprising, if the detected interior feature comprises the elevator:

detecting the change in position of the mobile station by detecting a vertical acceleration consistent with the user riding the elevator and determining a vertical displacement for the detected vertical acceleration at least in part by measuring an elapsed time; and

adjusting the detected change in the elevation component by comparing the determined vertical displacement information related to the detected interior feature with corresponding information from a database related to a building identified by location information related to the estimated initial position.

7. The method of claim 3, further comprising, if the detected interior feature comprises one of the ramp or the escalator:

detecting the change in position of the mobile station by detecting a rate of ascent consistent with the user riding the elevator and determining a vertical displacement; and

adjusting the detected change in the elevation component by comparing the determined vertical displacement information related to the detected interior feature with corresponding information from a database related to a building identified by location information related to the estimated initial position.

8. The method of claim 4, wherein said information from the database related to the building comprises one or more of a vertical distance between floors of the building, a height of an individual stair, a height of a staircase, an elevation change for a ramp, and an elevation change for an escalator.

9. The method of claim 1, the sensor data comprising data from an inertial measurement unit comprising one or more of a gyroscope and/or an accelerometer.

10. A mobile station, comprising:

a processor to determine an estimated initial position for the mobile station, wherein the estimated initial position comprises an elevation component;

an inertial measurement unit to detect an interior feature of a building at least in part by detecting a change in position of the mobile station with respect to said estimated initial position in response sensor data by detecting a change in the elevation component;

the processor being further adapted to adjust the detected change in the elevation component using information related to the detected interior structure.

11. The mobile station of claim 10, wherein the interior feature comprises one or more of a staircase, an escalator, an escalator, and/or a ramp.

12. The mobile station of claim 11, the processor being further adapted to detect the interior feature by associating movement of the mobile station with movement of a user on one of the interior features.

13. The mobile station of claim 12, the processor being further adapted to calibrate the detected change in the elevation component by comparing the information related to the detected interior feature with information from a database related to a building associated with the estimated initial position.

14. The mobile station of claim 12, wherein if the detected interior feature comprises the staircase, the processor being further adapted to detect the change in position of the mobile station by detecting one or more vertical movements consistent with the user climbing the stairway and the processor being further adapted to determine one or more vertical displacements for the one or more detected vertical movements and to adjust the detected change in the elevation component by averaging the one or more vertical displacements and multiplying the average by the number of vertical movements, and by adding the result to the elevation component of the estimated initial position.

15. The mobile station of claim 12, wherein if the detected interior feature comprises the elevator, the processor is further adapted to:

detect the change in position of the mobile station by detecting a vertical acceleration consistent with the user riding the elevator and determining a vertical displacement for the detected vertical acceleration at least in part by measuring an elapsed time; and

adjust the detected change in elevation by comparing the determined vertical displacement information related to the detected interior feature with information from a database related to a building associated with the estimated initial position.

16. The mobile station of claim 12, wherein if the detected interior feature comprises one of the ramp or the escalator, the processor is further adapted to:

detect the change in position of the mobile station by detecting a rate of ascent consistent with the user riding the elevator and determining a vertical displacement; and

adjust the detected change in the elevation component by comparing the determined vertical displacement information related to the detected interior feature with corresponding information from a database related to a building associated with the estimated initial position.

17. The mobile station of claim 13, wherein said information from the database related to the building comprises one or more of a vertical distance between floors of the building, a height of an individual stair, a height of a staircase, an elevation change for a ramp, and/or an elevation change for an escalator.

18. The mobile station of claim 10, wherein the inertial measurement unit comprises one or more of a gyroscope and/or an accelerometer.

19. An article, comprising:

a storage medium having stored thereon instructions that, if executed, enable a computing platform to;

determine an estimated initial position for a mobile station, wherein the estimated initial position comprises an elevation component;

detect an interior feature of a building at least in part by detecting a change in position of the mobile station with respect to said estimated initial position in response to sensor data by detecting a change in the elevation component; and

adjust the detected change in the elevation component using information related to the detected interior feature.

20. The article of claim 19, wherein the interior feature comprises one or more of a staircase, an escalator, an escalator, and/or a ramp.

21. The article of claim 20, wherein the storage medium has stored thereon further instructions that, if executed, further enable the computing platform to detect the interior feature by associating movement of the mobile station with movement of a user on one of the interior features.

22. The article of claim 21, wherein the storage medium has stored thereon further instructions that, if executed, further enable the computing platform to adjust the detected change in the elevation component by comparing the information related to the detected interior feature with information from a database related to a building associated with the estimated initial position.

23. The article of claim 21, wherein the storage medium has stored thereon further instructions that, if executed, further enable the computing platform to, if the detected interior feature comprises the staircase:

detect the change in position of the mobile station by detecting one or more vertical movements consistent with the user climbing the stairway and determining one or more vertical displacements for the one or more detected vertical movements; and

adjust the detected change in the elevation component by averaging the one or more vertical displacements and multiplying the average by the number of vertical movements, and by adding the result to the elevation component of the estimated initial position.

24. The article of claim 21, wherein the storage medium has stored thereon further instructions that, if executed, further enable the computing platform to, if the detected interior feature comprises the elevator:

detect the change in position of the mobile station by detecting a vertical acceleration consistent with the user riding the elevator and determining a vertical displacement for the detected vertical acceleration at least in part by measuring an elapsed time; and

adjust the detected change in the elevation component by comparing the determined vertical displacement information related to the detected interior feature with corresponding information from a database related to a building identified by location information related to the estimated initial position.

25. The article of claim 22, wherein the storage medium has stored thereon further instructions that, if executed, further enable the computing platform to, if the detected interior feature comprises one of the ramp or the escalator:

detect the change in position of the mobile station by detecting a rate of ascent consistent with the user riding the elevator and determining a vertical displacement; and

adjust the detected change in the elevation component by comparing the determined vertical displacement information related to the detected interior feature with corresponding information from a database related to a building identified by location information related to the estimated initial position.

26. The article of claim 22, wherein said information from the database related to the building comprises one or more of a vertical distance between floors of the building, a height of an individual stair, a height of a staircase, an elevation change for a ramp, and an elevation change for an escalator.

27. The article of claim 19, the sensor data comprising information from an inertial measurement unit comprising one or more of a gyroscope and/or an accelerometer.

28. An apparatus, comprising:

means for determining an estimated initial position for a mobile station, wherein the estimated initial position comprises an elevation component;

means for detecting an interior feature of a building at least in part by detecting a change in position of the mobile station with respect to said estimated initial position in response to sensor data by detecting a change in the elevation component; and

means for adjusting the detected change in the elevation component using information related to the detected interior feature.

29. The apparatus of claim 28, wherein the interior feature comprises one or more of a staircase, an escalator, an escalator, and/or a ramp.

30. The apparatus of claim 29, wherein said means for detecting the interior feature comprises means for associating movement of the mobile station with movement of a user on one of the interior features.

31. The apparatus of claim 30, wherein said means for adjusting the detected change in the elevation component comprises means for comparing the information related to the detected interior feature with information from a database related to a building associated with the estimated initial position.

32. The apparatus of claim 30, further comprising, if the detected interior feature comprises the staircase:

means for detecting the change in position of the mobile station by detecting one or more vertical movements consistent with the user climbing the stairway and determining one or more vertical displacements for the one or more detected vertical movements; and

means for adjusting the detected change in the elevation component by averaging the one or more vertical displacements and multiplying the average by the number of vertical movements, and by adding the result to the elevation component of the estimated initial position.

33. The apparatus of claim 30, further comprising, if the detected interior feature comprises the elevator:

means for detecting the change in position of the mobile station by detecting a vertical acceleration consistent with the user riding the elevator and determining a vertical displacement for the detected vertical acceleration; and

means for adjusting the detected change in the elevation component by comparing the determined vertical displacement information related to the detected interior feature with corresponding information from a database related to a building identified by location information related to the estimated initial position.

34. The apparatus of claim 30, further comprising, if the detected interior feature comprises one of the ramp or the escalator:

means for detecting the change in position of the mobile station by detecting a rate of ascent consistent with the user riding the elevator and determining a vertical displacement; and

means for adjusting the detected change in the elevation component by comparing the determined vertical displacement information related to the detected interior feature with corresponding information from a database related to a building identified by location information related to the estimated initial position.

35. The apparatus of claim 31, wherein said information from the database related to the building comprises one or more of a vertical distance between floors of the building, a height of an individual stair, a height of a staircase, an elevation change for a ramp, and/or an elevation change for an escalator.

36. The apparatus of claim 28, the sensor data comprising data from an inertial measurement unit comprising one or more of a gyroscope and/or an accelerometer.