METHOD FOR SEAMLESS TRANSITION FROM URBAN OUTDOOR ENVIRONMENTS TO INDOOR NAVIGATION
First Claim
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1. A machine implemented method comprising:
- calculating probabilities of multiple position estimators associated with a mobile device;
sampling beliefs of said multiple position estimators based, at least in part, on said probabilities to generate first samples; and
updating a combined belief for said multiple positioning estimators based, at least in part, on said first samples.
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Abstract
Techniques are disclosed for managing operation of multiple estimators in a wireless device. In at least one implementation, techniques for providing relatively seamless transition between dissimilar regions of a state space may be provided.
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Citations
37 Claims
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1. A machine implemented method comprising:
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calculating probabilities of multiple position estimators associated with a mobile device; sampling beliefs of said multiple position estimators based, at least in part, on said probabilities to generate first samples; and updating a combined belief for said multiple positioning estimators based, at least in part, on said first samples. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An apparatus comprising:
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one or more sensors to obtain measurements; and a processor to; initialize a combined belief for active estimators of a plurality of position estimators based, at least in part, on said measurements; calculate probabilities of said active estimators; sample beliefs of said active estimators based, at least in part, on said probabilities to generate samples; and update said combined belief for said active estimators based, at least in part, on said first samples. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. An article comprising:
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a non-transitory storage medium comprising machine-readable instructions stored thereon which are executable by a special purpose computing apparatus to; calculate probabilities of multiple position estimators associated with a mobile device; sample beliefs of said multiple position estimators based, at least in part, on said probabilities to generate first samples; and update a combined belief for said multiple positioning estimators based, at least in part, on said first samples. - View Dependent Claims (21, 22, 23, 24)
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25. An apparatus comprising:
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means for calculating probabilities of multiple position estimators associated with a mobile device; means for sampling beliefs of said multiple position estimators based, at least in part, on said probabilities to generate first samples; and means for updating a combined belief for said multiple positioning estimators based, at least in part, on said first samples.
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26. A method comprising, at a mobile device:
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defining multiple operating regions of said mobile device, said mobile device being capable of acquiring satellite positioning system (SPS) signals in at least a first region, acquiring indoor navigation signals in at least a second region; applying a first estimator to process acquired SPS signals while operating in said first region and applying a second estimator to process acquired indoor navigation signals while operating in said second region; and combining results from said first and second estimators for estimating or predicting a navigation state of said mobile device while said mobile device is in a region overlapping said first and second regions. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33)
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34. An apparatus comprising:
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a receiver to acquire satellite positioning system (SPS) signals and indoor navigation signals; and a processor to; define multiple operating regions of a mobile device including a first region where said mobile device is capable of acquiring satellite positioning system (SPS) and a second region where said mobile device is capable of acquiring indoor navigation signals; apply a first estimator to process said acquired SPS signals while said mobile device is operating in said first region and apply a second estimator to process said acquired indoor navigation signals while said mobile device is operating in said second region; and combine results from said first and second estimators for estimating or predicting a navigation state of said mobile device while said mobile device is in a region overlapping said first and second regions. - View Dependent Claims (35)
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36. An article comprising:
a non-transitory storage medium comprising machine-readable instructions stored thereon which are executable by a special purpose computing apparatus to; define multiple operating regions of a mobile device including a first region where said mobile device is capable of acquiring satellite positioning system (SPS) and a second region where said mobile device is capable of acquiring indoor navigation signals; apply a first estimator to process said acquired SPS signals while said mobile device is operating in said first region and apply a second estimator to process said acquired indoor navigation signals while said mobile device is operating in said second region; and combine results from said first and second estimators for estimating or predicting a navigation state of said mobile device while said mobile device is in a region overlapping said first and second regions.
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37. An apparatus comprising:
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means for defining multiple operating regions of said mobile device, said mobile device being capable of acquiring satellite positioning system (SPS) signals in at least a first region, acquiring indoor navigation signals in at least a second region; means for applying a first estimator to process acquired SPS signals while operating in said first region and applying a second estimator to process acquired indoor navigation signals while operating in said second region; and means for combining results from said first and second estimators for estimating or predicting a navigation state of said mobile device while said mobile device is in a region overlapping said first and second regions.
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Specification