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Determining and Aligning a Position of a Device and a Position of a Wireless Access Point (AP)

  • US 20150237595A1
  • Filed: 10/08/2014
  • Published: 08/20/2015
  • Est. Priority Date: 02/14/2014
  • Status: Active Grant
First Claim
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1. A method comprising:

  • receiving traces of data, wherein respective data is collected by sensors of a device over a plurality of locations and over time periods, and wherein a respective trace of data includes received signal strength indication (RSSI) data for a plurality of wireless access points (AP);

    selecting, by one or more processors, a set of traces and a given wireless AP among the traces of data for which data is indicative of a threshold amount of information to estimate a position of the device over the time periods and a position of the given wireless AP;

    selecting first characteristics from the set of traces to remain constant and second characteristics from the set of traces to be variable;

    selecting a localization constraint that provides one or more boundaries on the position of the device over the time periods and the position of the given wireless AP;

    performing, by the one or more processors, a simultaneous localization and mapping (SLAM) optimization of the position of the device and the position of the given wireless AP based on the localization constraint with the first characteristics held constant and the second characteristics allowed to vary; and

    based on the optimization, providing an estimate of the position of the device over the time periods and an estimate of the position of the given wireless AP.

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