METHODS AND APPARATUSES FOR USE IN MOBILE DEVICE STATE/TRAJECTORY ESTIMATION WITHIN AN INDOOR ENVIRONMENT
First Claim
1. A method of estimating a state of a mobile device comprising, with the mobile device:
- applying a motion model to propagate an estimated state of said mobile device from a first state corresponding to a first location of an electronic map representing an indoor environment to a second state corresponding to a second location of said electronic map, based, at least in part, on one or more sensed parameters; and
validating said estimated state as propagated in response to a determination that a trajectory from said first location to said second location crosses a transition feature of a barrier presented by at least one obstacle identified in said electronic map.
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Accused Products
Abstract
Various techniques are provided which may be implemented in one or more methods, apparatuses, and/or articles of manufacture for use with and/or in a mobile device to obtain this date/trajectory estimation us within an indoor environment. In an example, a mobile device may apply a motion model to propagate an estimated state of the mobile device from a first state corresponding to a first location of an electronic map representing an indoor environment to a second state corresponding to a second location of the electronic map, based, at least in part, on one or more sensed parameters. The mobile device may further validate the estimated state as propagated in response to a determination that a trajectory from the first location to the second location crosses a transition feature of a barrier presented by at least one obstacle identified in the electronic map.
19 Citations
50 Claims
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1. A method of estimating a state of a mobile device comprising, with the mobile device:
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applying a motion model to propagate an estimated state of said mobile device from a first state corresponding to a first location of an electronic map representing an indoor environment to a second state corresponding to a second location of said electronic map, based, at least in part, on one or more sensed parameters; and validating said estimated state as propagated in response to a determination that a trajectory from said first location to said second location crosses a transition feature of a barrier presented by at least one obstacle identified in said electronic map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An apparatus for use in a mobile device, the apparatus comprising:
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means for propagating an estimated state of said mobile device from a first state corresponding to a first location of an electronic map representing an indoor environment to a second state corresponding to a second location of said electronic map, based, at least in part, on one or more sensed parameters; and means for validating said estimated state as propagated in response to a determination that a trajectory from said first location to said second location crosses a transition feature of a barrier presented by at least one obstacle identified in said electronic map. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A mobile device comprising:
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memory; and one or more processing units configured to; use a motion model to propagate an estimated state of said mobile device from a first state corresponding to a first location of an electronic map representing an indoor environment to a second state corresponding to a second location of said electronic map, based, at least in part, on one or more sensed parameters; and validate said estimated state as propagated in response to a determination that a trajectory from said first location to said second location crosses a transition feature of a barrier presented by at least one obstacle identified in said electronic map. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37)
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38. An article comprising:
a non-transitory computer readable medium having computer implementable instructions stored therein that are executable by one or more processing units of a mobile device to; apply a motion model to propagate an estimated state of said mobile device from a first state corresponding to a first location of an electronic map representing an indoor environment to a second state corresponding to a second location of said electronic map, based, at least in part, on one or more sensed parameters; and validate said estimated state as propagated in response to a determination that a trajectory from said first location to said second location crosses a transition feature of a barrier presented by at least one obstacle identified in said electronic map. - View Dependent Claims (39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
Specification