COLLABORATIVE NAVIGATION TECHNIQUES FOR MOBILE DEVICES

• US 20130335273A1
• Filed: 08/08/2012
• Published: 12/19/2013
• Est. Priority Date: 06/19/2012
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: PAKZAD, Payam, PODURI, Sameera, CHAO, Hui
• Granted Patent: US 9,494,432 B2
• Time in Patent Office: Days
• US Class Current: 342/458
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G01S 5/0284 Relative positioning
• CPC Class Codes: G01S 5/0289 of multiple transceivers, e.g. in ad hoc networks
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/025 using location based information parameters

Abstract

Various methods, apparatuses and/or articles of manufacture are provided which may be implemented to perform and/or otherwise support collaborative navigation between a plurality of mobile devices. In one example, a first mobile device, in response to a determination that at least a second mobile device is located within a threshold distance of the first mobile device, may obtain a navigation parameter indicative of an initial position and/or movement of the second mobile device which was determined based, at least in part, on a measurement from a sensor at the second mobile device. The first mobile device then affect a determined position and/or movement of the first mobile device based, at least in part, on the navigation parameter.

Claims

1. A method for performing collaborative navigation between a plurality of mobile devices, the method comprising:

with a first mobile device, in response to a determination that at least a second mobile device is located within a threshold distance of said first mobile device;

obtaining a navigation parameter indicative of an initial position and/or movement of said second mobile device, said initial position and/or movement of said second mobile device being determined based, at least in part, on a measurement from a sensor at said second mobile device; and

affecting a determined position and/or movement of said first mobile device based, at least in part, on said navigation parameter.

2. The method as recited in claim 1, and further comprising, with said first mobile device:

determining a range between said first mobile device and said second mobile device based, at least in part, on a wireless signal communicated between said first mobile device and said second mobile device; and

affecting said determined position and/or movement of said first mobile device based further, at least in part, on said range.

3. The method as recited in claim 1, and further comprising, with said first mobile device:

obtaining a subsequent navigation parameter indicative of a subsequent position and/or movement of said second mobile device;

determining a second range between said first mobile device and said second mobile device based, at least in part, on a further wireless signal communicated between said first mobile device and said second mobile device; and

affecting said determined position and/or movement of said first mobile device based, at least in part, on said subsequent navigation parameter and said second range.

4. The method as recited in claim 3, wherein said navigation parameter is obtained by said first mobile device directly from said second mobile device and said subsequent navigation parameter is obtained by said first mobile device from said second indirectly via another electronic device.

5. The method as recited in claim 1, and further comprising, with said first mobile device:

obtaining another navigation parameter indicative of a position and/or movement of a third mobile device; and

affecting said determined position and/or movement of said first mobile device based, at least in part, on said another navigation parameter.

6. The method as recited in claim 5, wherein said position and/or movement of said third mobile device is based, at least in part, on a position fix based, at least in part, on a wireless positioning signal received by said third mobile device.

7. The method as recited in claim 1, wherein said first mobile device is located in an indoor environment corresponding to an electronic map that identifies a navigation constraint within said indoor environment for a user carrying said first mobile device, and further comprising, with said first mobile device:

affecting said determined position and/or movement of said first mobile device based, at least in part, on said navigation constraint.

8. The method as recited in claim 1, and further comprising, with said first mobile device:

determining an active constraint based, at least in part, on a presence or absence of a detectable user action; and

affecting said determined position and/or movement of said first mobile device based, at least in part, on said active constraint.

9. The method as recited in claim 8, wherein determining said active constraint further comprises:

initiating a presentation of a solicitation for said detectable user action via an output device provisioned in said first mobile device.

10. The method as recited in claim 9, wherein said solicitation for said detectable user action is based, at least in part, on at least a navigation constraint identified within an electronic map.

11. The method as recited in claim 1, and further comprising:

affecting said determined position and/or movement of said first mobile device further based, at least in part, on at least one of;

a plurality of navigation parameters for the plurality of mobile devices, including said first mobile device and said second mobile device;

or

an odometry measurement for at least one of said plurality of mobile devices.

12. The method as recited in claim 1, and further comprising:

affecting said determined position and/or movement of said first mobile device further based, at least in part, on at least one of;

a range measurement from said first mobile device to another electronic device applied as a proximity constraint to a movement of said first mobile device over time;

a feature in an electronic map of an indoor environment surrounding said first mobile device applied as a navigation constraint to said movement of said first mobile device over time;

or

a presence or absence of a detectable user action at said first mobile device applied as an active constraint to said movement of said first mobile device over time.

13. The method as recited in claim 1, and further comprising, with said first mobile device:

transmitting a local navigation parameter to at least said second mobile device, said local navigation parameter being indicative of at least one of an initial determined position and/or movement of said first mobile device, or said determined position and/or movement of said first mobile device.

14. The method as recited in claim 13, wherein transmitting said local navigation parameter to at least said second mobile device further comprises:

transmitting said local navigation parameter to at least said second mobile device via another electronic device.

15. The method as recited in claim 1, wherein said determination that at least said second mobile device is located within said threshold distance of said first mobile device is based, at least in part, on a wireless signal communicated between said first mobile device and said second mobile device.

16. The method as recited in claim 1, wherein said threshold distance is based, at least in part, on at least a proximity constraint corresponding to an operable communication range of a first radio provisioned in said first mobile device and a second radio provisioned in said second mobile device.

17. The method as recited in claim 16, wherein said operable communication range comprises a wireless personal area network (WPAN) range for a WPAN using at least one of said first radio or said second radio.

18. The method as recited in claim 1, said initial position and/or movement of said second mobile device being further determined based, at least in part, on an odometry measurement.

19. The method as recited in claim 1, wherein said navigation parameter indicative of said initial position and/or movement of said second mobile device is obtained from said second mobile device via another electronic device.

20. The method as recited in claim 19, wherein said navigation parameter indicative of said initial position and/or movement of said second mobile device is determined, at least in part, by said another electronic device.

21. The method as recited in claim 1, and further comprising, with said first mobile device:

determining whether at least said second mobile device is located within said threshold distance of said first mobile device.

22. The method as recited in claim 1, and further comprising, with said first mobile device:

obtaining said determination that at least said second mobile device is located within said threshold distance of said first mobile device from another electronic device.

23. The method as recited in claim 1, and further comprising, with said first mobile device:

using said navigation parameter, at least in part, as a substitute for a local navigation parameter indicative of a determined position and/or movement of said first mobile device, wherein said local navigation parameter is based, at least in part, on a local sensor at said first mobile device.

24. The method as recited in claim 23, and further comprising, with said first mobile device:

abstaining from determining said local navigation parameter based, at least in part, on an expectation that said navigation parameter as obtained, or at least one other navigation parameter yet to be obtained, is usable as said substitute for said local navigation parameter.

25. The method as recited in claim 1, wherein said navigation parameter comprises at least one of:

an odometry measurement, a relative position measurement, a velocity measurement, a position coordinate, a trajectory measurement, a heading measurement, a pseudorange, an inertial measurement, a height measurement, an indication of position and/or movement accuracy, a positioning resource identifier, or a timestamp.

26. An apparatus for use in a first mobile device in performing collaborative navigation between a plurality of mobile devices, the apparatus comprising:

in response to a determination that at least a second mobile device is located within a threshold distance of said first mobile device;

means for obtaining a navigation parameter indicative of an initial position and/or movement of said second mobile device, said initial position and/or movement of said second mobile device being determined based, at least in part, on a measurement from a sensor at said second mobile device; and

means for affecting a determined position and/or movement of said first mobile device based, at least in part, on said navigation parameter.

27. The apparatus as recited in claim 26, and further comprising:

means for determining a range between said first mobile device and said second mobile device based, at least in part, on a wireless signal communicated between said first mobile device and said second mobile device; and

means for affecting said determined position and/or movement of said first mobile device based further, at least in part, on said range.

28. The apparatus as recited in claim 26, and further comprising:

means for obtaining a subsequent navigation parameter indicative of a subsequent position and/or movement of said second mobile device;

means for determining a second range between said first mobile device and said second mobile device based, at least in part, on a further wireless signal communicated between said first mobile device and said second mobile device; and

means for affecting said determined position and/or movement of said first mobile device based, at least in part, on said subsequent navigation parameter and said second range.

29. The apparatus as recited in claim 28, wherein said navigation parameter is obtained by said first mobile device directly from said second mobile device and said subsequent navigation parameter is obtained by said first mobile device from said second indirectly via another electronic device.

30. The apparatus as recited in claim 26, and further comprising:

means for obtaining another navigation parameter indicative of a position and/or movement of a third mobile device; and

means for affecting said determined position and/or movement of said first mobile device based, at least in part, on said another navigation parameter.

31. The apparatus as recited in claim 30, wherein said position and/or movement of said third mobile device is based, at least in part, on a position fix based, at least in part, on a wireless positioning signal received by said third mobile device.

32. The apparatus as recited in claim 26, wherein said first mobile device is located in an indoor environment corresponding to an electronic map that identifies a navigation constraint within said indoor environment for a user carrying said first mobile device, and further comprising:

means for affecting said determined position and/or movement of said first mobile device based, at least in part, on said navigation constraint.

33. The apparatus as recited in claim 26, and further comprising:

means for determining an active constraint based, at least in part, on a presence or absence of a detectable user action; and

means for affecting said determined position and/or movement of said first mobile device based, at least in part, on said active constraint.

34. The apparatus as recited in claim 33, and further comprising:

means for presenting a solicitation for said detectable user action.

35. The apparatus as recited in claim 34, wherein said solicitation for said detectable user action is based, at least in part, on at least a navigation constraint identified within an electronic map.

36. The apparatus as recited in claim 26, and further comprising:

means for affecting said determined position and/or movement of said first mobile device further based, at least in part, on at least one of;

a plurality of navigation parameters for said plurality of mobile devices, including said first mobile device and said second mobile device;

or

an odometry measurement for at least one of said plurality of mobile devices.

37. The apparatus as recited in claim 26, and further comprising:

means for affecting said determined position and/or movement of said first mobile device further based, at least in part, on at least one of;

a range measurement from said first mobile device to another electronic device applied as a proximity constraint to a movement of said first mobile device over time;

a feature in an electronic map of an indoor environment surrounding said first mobile device applied as a navigation constraint to said movement of said first mobile device over time;

or

a presence or absence of a detectable user action at said first mobile device applied as an active constraint to said movement of said first mobile device over time.

38. The apparatus as recited in claim 26, and further comprising:

means for transmitting a local navigation parameter to at least said second mobile device, said local navigation parameter being indicative of at least one of an initial determined position and/or movement of said first mobile device, or said determined position and/or movement of said first mobile device.

39. The apparatus as recited in claim 38, and further comprising:

means for transmitting said local navigation parameter to at least said second mobile device via another electronic device.

40. The apparatus as recited in claim 26, wherein said determination that at least said second mobile device is located within said threshold distance of said first mobile device is based, at least in part, on a wireless signal communicated between said first mobile device and said second mobile device.

41. The apparatus as recited in claim 26, wherein said threshold distance is based, at least in part, on at least a proximity constraint corresponding to an operable communication range of a first radio provisioned in said first mobile device and a second radio provisioned in said second mobile device.

42. The apparatus as recited in claim 41, wherein said operable communication range comprises a wireless personal area network (WPAN) range for a WPAN using at least one of said first radio or said second radio.

43. The apparatus as recited in claim 26, said initial position and/or movement of said second mobile device being further determined based, at least in part, on an odometry measurement.

44. The apparatus as recited in claim 26, wherein said navigation parameter indicative of said initial position and/or movement of said second mobile device is obtained from said second mobile device via another electronic device.

45. The apparatus as recited in claim 44, wherein said navigation parameter indicative of said initial position and/or movement of said second mobile device is determined, at least in part, by said another electronic device.

46. The apparatus as recited in claim 26, and further comprising:

means for determining whether at least said second mobile device is located within said threshold distance of said first mobile device.

47. The apparatus as recited in claim 26, and further comprising:

means for obtaining said determination that at least said second mobile device is located within said threshold distance of said first mobile device from another electronic device.

48. The apparatus as recited in claim 26, and further comprising:

means for using said navigation parameter, at least in part, as a substitute for a local navigation parameter indicative of a determined position and/or movement of said first mobile device, wherein said local navigation parameter is based, at least in part, on a local sensor at said first mobile device.

49. The apparatus as recited in claim 48, and further comprising:

means for indicating to at least one process to abstain from determining said local navigation parameter based, at least in part, on an expectation that said navigation parameter as obtained, or at least one other navigation parameter yet to be obtained, is usable as said substitute for said local navigation parameter.

50. A computing platform at a first mobile device to perform collaborative navigation between a plurality of mobile devices, the computing platform comprising:

a communication interface; and

a processing unit to;

in response to a determination that at least a second mobile device is located within a threshold distance of said first mobile device;

obtain, via said communication interface, a navigation parameter indicative of an initial position and/or movement of said second mobile device, said initial position and/or movement of said second mobile device being determined based, at least in part, on a measurement from a sensor at said second mobile device; and

affect a determined position and/or movement of said first mobile device based, at least in part, on said navigation parameter.

51. The computing platform as recited in claim 50, said processing unit to further:

determine a range between said first mobile device and said second mobile device based, at least in part, on a wireless signal communicated between said first mobile device and said second mobile device; and

affect said determined position and/or movement of said first mobile device based further, at least in part, on said range.

52. The computing platform as recited in claim 50, said processing unit to further:

obtain, via said communication interface, a subsequent navigation parameter indicative of a subsequent position and/or movement of said second mobile device;

determine a second range between said first mobile device and said second mobile device based, at least in part, on a further wireless signal communicated between said first mobile device and said second mobile device; and

affect said determined position and/or movement of said first mobile device based, at least in part, on said subsequent navigation parameter and said second range.

53. The computing platform as recited in claim 52, wherein said navigation parameter is obtained by said first mobile device directly from said second mobile device and said subsequent navigation parameter is obtained by said first mobile device from said second indirectly via another electronic device.

54. The computing platform as recited in claim 50, said processing unit to further:

obtain, via said communication interface, another navigation parameter indicative of a position and/or movement of third mobile device; and

affect said determined position and/or movement of said first mobile device based, at least in part, on said another navigation parameter.

55. The computing platform as recited in claim 54, wherein said position and/or movement of said third mobile device is based, at least in part, on a position fix based, at least in part, on a wireless positioning signal received by said third mobile device.

56. The computing platform as recited in claim 50, wherein said first mobile device is located in an indoor environment corresponding to an electronic map that identifies a navigation constraint within said indoor environment for a user carrying said first mobile device, and said processing unit to further:

affect a determined position and/or movement of said first mobile device based, at least in part, on said navigation constraint.

57. The computing platform as recited in claim 50, and further comprising:

at least one of;

a sensor or a input device; and

said processing unit to further;

determine an active constraint based, at least in part, on a presence or absence of a detectable user action based, at least in part, on at least one of said sensor or said input device; and

affect said determined position and/or movement of said first mobile device based, at least in part, on said active constraint.

58. The computing platform as recited in claim 57, further comprising:

an output device; and

said processing unit to further;

initiate a presentation of a solicitation for said detectable user action via said output device provisioned in said first mobile device.

59. The computing platform as recited in claim 58, wherein said solicitation for said detectable user action is based, at least in part, on at least a navigation constraint identified within an electronic map.

60. The computing platform as recited in claim 50, said processing unit to further:

affect said determined position and/or movement of said first mobile device further based, at least in part, on at least one of;

a plurality of navigation parameters for said plurality of mobile devices, including said first mobile device and said second mobile device;

or

an odometry measurement for at least one of said plurality of mobile devices.

61. The computing platform as recited in claim 50, said processing unit to further:

affect said determined position and/or movement of said first mobile device further based, at least in part, on at least one of;

a range measurement from said first mobile device to another electronic device applied as a proximity constraint to a movement of said first mobile device over time;

a feature in an electronic map of an indoor environment surrounding said first mobile device applied as a navigation constraint to said movement of said first mobile device over time;

or

a presence or absence of a detectable user action at said first mobile device applied as an active constraint to said movement of said first mobile device over time.

62. The computing platform as recited in claim 50, said processing unit to further:

initiate transmission of a local navigation parameter to at least said second mobile device, via said communication interface, said local navigation parameter being indicative of at least one of an initial determined position and/or movement of said first mobile device, or said determined position and/or movement of said first mobile device.

63. The computing platform as recited in claim 62, said processing unit to further:

initiate transmission of said local navigation parameter to at least said second mobile device, via said communication interface and another electronic device.

64. The computing platform as recited in claim 50, wherein said determination that at least said second mobile device is located within said threshold distance of said first mobile device is based, at least in part, on a wireless signal communicated between said first mobile device and said second mobile device.

65. The computing platform as recited in claim 50, wherein said threshold distance is based, at least in part, on at least a proximity constraint corresponding to an operable communication range of a first radio provisioned in said first mobile device and a second radio provisioned in said second mobile device.

66. The computing platform as recited in claim 65, wherein said operable communication range comprises a wireless personal area network (WPAN) range for a WPAN using at least one of said first radio or said second radio.

67. The computing platform as recited in claim 50, said initial position and/or movement of said second mobile device being further determined based, at least in part, on an odometry measurement.

68. The computing platform as recited in claim 50, wherein said navigation parameter indicative of said initial position and/or movement of said second mobile device is obtained from said second mobile device via said communication interface and another electronic device.

69. The computing platform as recited in claim 68, wherein said navigation parameter indicative of said initial position and/or movement of said second mobile device is determined, at least in part, by said another electronic device.

70. The computing platform as recited in claim 50, said processing unit to further:

determine whether at least said second mobile device is located within said threshold distance of said first mobile device.

71. The computing platform as recited in claim 50, said processing unit to further:

obtain said determination that at least said second mobile device is located within said threshold distance of said first mobile device from another electronic device, via said communication interface.

72. The computing platform as recited in claim 50, said processing unit to further:

use said navigation parameter, at least in part, as a substitute for a local navigation parameter indicative of a determined position and/or movement of said first mobile device, wherein said local navigation parameter is based, at least in part, on a local sensor at said first mobile device.

73. The computing platform as recited in claim 72, said processing unit to further:

indicate to at least one process to abstain from determining said local navigation parameter based, at least in part, on an expectation that said navigation parameter as obtained, or at least one other navigation parameter yet to be obtained, is usable as said substitute for said local navigation parameter.

74. An article for use in a first mobile device capable of performing collaborative navigation between a plurality of mobile devices, the article comprising:

a non-transitory computer readable medium having stored there in computer implementable instructions executable by a processing unit in said first mobile device to;

in response to a determination that at least a second mobile device is located within a threshold distance of said first mobile device;

obtain a navigation parameter indicative of an initial position and/or movement of said second mobile device, said initial position and/or movement of said second mobile device being determined based, at least in part, on a sensor at said second mobile device; and

affect a determined position and/or movement of said first mobile device based, at least in part, on said navigation parameter.

75. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

determine a range between said first mobile device and said second mobile device based, at least in part, on a wireless signal communicated between said first mobile device and said second mobile device; and

affect said determined position and/or movement of said first mobile device based further, at least in part, on said range.

76. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

obtain a subsequent navigation parameter indicative of a subsequent position and/or movement of said second mobile device;

determine a second range between said first mobile device and said second mobile device based, at least in part, on a further wireless signal communicated between said first mobile device and said second mobile device; and

affect said determined position and/or movement of said first mobile device based, at least in part, on said subsequent navigation parameter and said second range.

77. The article as recited in claim 76, wherein said navigation parameter is obtained by said first mobile device directly from said second mobile device and said subsequent navigation parameter is obtained by said first mobile device from said second indirectly via another electronic device.

78. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

obtain another navigation parameter indicative of a position and/or movement of third mobile device; and

affect said determined position and/or movement of said first mobile device based, at least in part, on said another navigation parameter.

79. The article as recited in claim 78, wherein said position and/or movement of said third mobile device is based, at least in part, on a position fix based, at least in part, on a wireless positioning signal received by said third mobile device.

80. The article as recited in claim 74, wherein said first mobile device is located in an indoor environment corresponding to an electronic map that identifies a navigation constraint within said indoor environment for a user carrying said first mobile device, and said computer implementable instructions being further executable by said processing unit to affect a determined position and/or movement of said first mobile device based, at least in part, on said navigation constraint.

81. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

determine an active constraint based, at least in part, on a presence or absence of a detectable user action; and

affect said determined position and/or movement of said first mobile device based, at least in part, on said active constraint.

82. The article as recited in claim 81, said computer implementable instructions being further executable by said processing unit to:

initiate a presentation of a solicitation for said detectable user action via an output device provisioned in said first mobile device.

83. The article as recited in claim 82, wherein said solicitation for said detectable user action is based, at least in part, on at least a navigation constraint identified within an electronic map.

84. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

affect said determined position and/or movement of said first mobile device further based, at least in part, on at least one of;

a plurality of navigation parameters for said plurality of mobile devices, including said first mobile device and said second mobile device;

or

an odometry measurement for at least one of said plurality of mobile devices.

85. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

affect said determined position and/or movement of said first mobile device further based, at least in part, on at least one of;

a range measurement from said first mobile device to another electronic device applied as a proximity constraint to a movement of said first mobile device over time;

a feature in an electronic map of an indoor environment surrounding said first mobile device applied as a navigation constraint to said movement of said first mobile device over time;

or

a presence or absence of a detectable user action at said first mobile device applied as an active constraint to said movement of said first mobile device over time.

86. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

initiate transmission of a local navigation parameter to at least said second mobile device, said local navigation parameter being indicative of at least one of an initial determined position and/or movement of said first mobile device, or said determined position and/or movement of said first mobile device.

87. The article as recited in claim 86, said computer implementable instructions being further executable by said processing unit to:

initiate transmission of said local navigation parameter to at least said second mobile device via another electronic device.

88. The article as recited in claim 87, wherein said navigation parameter indicative of said initial position and/or movement of said second mobile device is determined, at least in part, by said another electronic device.

89. The article as recited in claim 74, wherein said determination that at least said second mobile device is located within said threshold distance of said first mobile device is based, at least in part, on a wireless signal communicated between said first mobile device and said second mobile device.

90. The article as recited in claim 74, wherein said threshold distance is based, at least in part, on at least a proximity constraint corresponding to an operable communication range of a first radio provisioned in said first mobile device and a second radio provisioned in said second mobile device.

91. The article as recited in claim 90, wherein said operable communication range comprises a wireless personal area network (WPAN) range for a WPAN using at least one of said first radio or said second radio.

92. The article as recited in claim 74, said initial position and/or movement of said second mobile device being further determined based, at least in part, on an odometry measurement.

93. The article as recited in claim 74, wherein said navigation parameter indicative of said initial position and/or movement of said second mobile device is obtained from said second mobile device via another electronic device.

94. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

determine whether at least said second mobile device is located within said threshold distance of said first mobile device.

95. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

obtain said determination that at least said second mobile device is located within said threshold distance of said first mobile device from another electronic device.

96. The article as recited in claim 74, said computer implementable instructions being further executable by said processing unit to:

use said navigation parameter, at least in part, as a substitute for a local navigation parameter indicative of a determined position and/or movement of said first mobile device, wherein said local navigation parameter is based, at least in part, on a local sensor at said first mobile device.

97. The article as recited in claim 96, said computer implementable instructions being further executable by said processing unit to:

indicate to at least one process to abstain from determining said local navigation parameter based, at least in part, on an expectation that said navigation parameter as obtained, or at least one other navigation parameter yet to be obtained, is usable as said substitute for said local navigation parameter.