Real-Time Data With Post-Processing

• US 20100318292A1
• Filed: 06/15/2009
• Published: 12/16/2010
• Est. Priority Date: 06/15/2009
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Kulik, Victor, Czompo, Joseph
• Granted Patent: US 9,074,897 B2
• Time in Patent Office: Days
• US Class Current: 701/210
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

The subject matter disclosed herein relates to determining and/or predicting a navigation solution.

Claims

1. A method comprising:

processing signals representing information obtained in a first time period to obtain one or more measurements associated with said first time period;

estimating and/or predicting a state following said first time period based, at least in part, on said one or more measurements associated with said first time period;

obtaining signals representing additional information subsequent to said first time period;

re-processing at least a portion of said signals representing said information obtained in said first time period based, at least in part, on said additional information to obtain updates to said one or more measurements associated with said first time period; and

re-estimating and/or re-predicting said state based, at least in part, on said updates to said one or more measurements associated with said first time period.

2. The method of claim 1, wherein said estimating and/or predicting a state is performed using a Kalman filter.

3. The method of claim 1, further comprising:

determining a real-time navigation solution based at least in part on said re-estimated and/or re-predicted state.

4. The method of claim 1, wherein said state comprises a position and/or trajectory.

5. The method of claim 1, wherein said obtaining signals representing additional information is responsive at least in part to a changing RF environment.

6. The method of claim 1, wherein said additional information provides data to measure one or more pseudoranges.

7. The method of claim 6, wherein said one or more pseudorange measurements are associated with one or more space vehicles.

8. The method of claim 6, wherein said one or more pseudoranges are associated with one or more base stations.

9. The method of claim 1, wherein said additional information comprises a wireless system time.

10. The method of claim 1, wherein said additional information comprises ephemeris data associated with one or more space vehicles.

11. The method of claim 1, wherein said additional information comprises Satellite Based Augmentation System (SBAS) correction information.

12. The method of claim 11, wherein said information obtained in said first time period comprises pseudorange and/or Doppler information acquired from one or more reference stations.

13. The method of claim 12, wherein said state comprises a position and/or trajectory.

14. The method of claim 4, wherein said information obtained in said first time period comprises position and/or velocity measurements acquired from an accelerometer, gyro, and/or compass on-board a mobile station.

15. The method of claim 4, further comprising:

comparing said position and/or trajectory with a model of a road network to determine a location with respect to said road network.

16. The method of claim 1, further comprising:

storing said one or more measurements associated with said first time period until after said first time period.

17. The method of claim 1, wherein said information obtained in said first time period comprises one or more pseudorange measurements.

18. The method of claim 17, wherein said one or more pseudorange measurements are associated with one or more space vehicles.

19. The method of claim 17, wherein said one or more pseudorange measurements are associated with one or more base stations.

20. The method of claim 1, wherein said information obtained in said first time period comprises ephemeris data associated with one or more space vehicles.

21. The method of claim 1, further comprising:

displaying said one or more measurements during said first time period.

22. The method of claim 1, wherein said updates to said one or more measurements comprise one or more additional measurements.

23. A mobile device comprising:

a receiver to receive RF signals; and

a special purpose computing device adapted to operate in an RF environment to;

process signals representing information obtained in a first time period to obtain one or more measurements associated with said first time period;

compute an estimate and/or a prediction of a state following said first time period based, at least in part, on said one or more measurements;

obtain signals that represent additional information subsequent to said first time period;

re-process at least a portion of said signals received in said first time period based, at least in part, on said additional information to obtain updates to said one or more measurements associated with said first time period; and

re-compute said estimate and/or prediction of said state based, at least in part, on said updates to said one or more measurements associated with said first time period.

24. The mobile device of claim 23, wherein said computing device is further adapted to determine a real-time navigation solution based at least in part on said re-computed estimate and/or prediction of said state.

25. The mobile device of claim 23, further comprising a Kalman filter.

26. The mobile device of claim 23, wherein said state comprises a position and/or trajectory.

27. The mobile device of claim 23, wherein said computing device is further adapted to obtain said signals that represent said additional information responsive at least in part to a changing RF environment.

28. The mobile device of claim 23, wherein said additional information provides data to measure one or more pseudoranges.

29. The mobile device of claim 28, wherein said one or more pseudoranges are associated with one or more space vehicles.

30. The mobile device of claim 28, wherein said one or more pseudorange measurements are associated with one or more base stations.

31. The mobile device of claim 23, wherein said additional information comprises a wireless system time.

32. The mobile device of claim 23, wherein said additional information comprises ephemeris data associated with one or more space vehicles.

33. The mobile device of claim 23, wherein said additional information comprises Satellite Based Augmentation System (SBAS) correction information.

34. The mobile device of claim 23, wherein said information obtained in said first time period comprises pseudorange and/or Doppler information acquired from one or more reference stations.

35. The mobile device of claim 23, further comprising an accelerometer, gyro, and/or compass.

36. An apparatus comprising:

means for processing signals representing information obtained in a first time period to obtain one or more measurements associated with said first time period;

means for estimating and/or predicting a state following said first time period based, at least in part, on said one or more measurements associated with said first time period;

means for obtaining signals representing additional information subsequent to said first time period;

means for re-processing at least a portion of said signals representing said information obtained in said first time period based, at least in part, on said additional information to obtain updates to said one or more measurements associated with said first time period; and

means for re-estimating and/or re-predicting said state based, at least in part, on said updates to said one or more measurements associated with said first time period.

37. The apparatus of claim 36, wherein said estimating and/or predicting a state is performed using a Kalman filter.

38. The apparatus of claim 36, further comprising:

means for determining a real-time navigation solution based at least in part on said re-estimated and/or re-predicted state.

39. The apparatus of claim 36, wherein said means for obtaining signals representing additional information further comprises means for obtaining said signals representing said additional information responsive at least in part to a changing RF environment.

40. The apparatus of claim 36, wherein said additional information provides data to measure one or more pseudoranges.

41. The apparatus of claim 40, wherein said one or more pseudoranges are associated with one or more space vehicles.

42. The apparatus of claim 36, wherein said additional information comprises a wireless system time.

43. The apparatus of claim 36, wherein said additional information comprises ephemeris data associated with one or more space vehicles.

44. An article comprising:

a storage medium comprising machine-readable instructions stored thereon which, if executed by a special purpose computing device, are adapted to enable said special purpose computing device to;

process signals representing information obtained in a first time period to obtain one or more measurements associated with said first time period;

estimate and/or predict a state following said first time period based, at least in part, on said one or more measurements associated with said first time period;

obtain signals representing additional information subsequent to said first time period;

re-process at least a portion of said signals representing said information obtained in said first time period based, at least in part, on said additional information to obtain updates to said one or more measurements associated with said first time period; and

re-estimate and/or re-predict said state based, at least in part, on said updates to said one or more measurements associated with said first time period.

45. The article of claim 44, wherein said machine-readable instructions are further adapted to enable said special purpose computing device to estimate and/or predict said state using a Kalman filter.

46. The article of claim 44, wherein said machine-readable instructions are further adapted to enable said special purpose computing device to obtain said signals representing said additional information responsive at least in part to a changing RF environment.

47. The article of claim 44, wherein said additional information provides data to measure one or more pseudoranges.

48. The article of claim 47, wherein said one or more pseudoranges are associated with one or more space vehicles.

49. The article of claim 44, wherein said additional information comprises a wireless system time.

50. The article of claim 44, wherein said additional information comprises ephemeris data associated with one or more space vehicles.

51. A method comprising:

processing signals representing information obtained in a first time period to obtain one or more measurements associated with said first time period;

obtaining signals representing additional information subsequent to said first time period;

re-processing at least a portion of said signals representing said information obtained in said first time period based, at least in part, on said additional information to obtain updates to said one or more measurements associated with said first time period;

estimating and/or predicting a state based, at least in part, on said updates to said one or more measurements associated with said first time period; and

applying said state to a map matching algorithm.

52. The method of claim 51, wherein said estimating and/or predicting a state is performed using a Kalman filter.

53. The method of claim 51, wherein said state comprises a position and/or trajectory.

54. The method of claim 51, wherein obtaining signals representing additional information further comprises obtaining said signals representing said additional information responsive at least in part to a changing RF environment.

55. The method of claim 51, wherein said additional information provides data to measure one or more pseudoranges.

56. A method comprising:

processing signals representing information obtained in a first time period to obtain one or more measurements associated with said first time period;

obtaining inertial navigation system (INS) signals representing additional information subsequent to said first time period;

re-processing at least a portion of said signals representing said information obtained in said first time period based, at least in part, on said additional information to obtain updates to said one or more measurements associated with said first time period; and

estimating and/or predicting a state based, at least in part, on said updates to said one or more measurements associated with said first time period.

57. The method of claim 56, wherein said estimating and/or predicting a state is performed using a Kalman filter.

58. The method of claim 56, wherein said INS signals are based, at least in part, on an accelerometer, a gyro, and/or a compass.

59. The method of claim 56, wherein said state comprises a position and/or trajectory.