METHOD AND SYSTEM FOR ESTIMATING UNCERTAINTY FOR OFFLINE MAP INFORMATION AIDED ENHANCED PORTABLE NAVIGATION
First Claim
1. A method for estimating uncertainty for an enhanced navigation solution of a portable device and a platform, wherein the mobility of the device is constrained or unconstrained within the platform and wherein the device may be tilted to any orientation, the method comprising:
- a) obtaining sensor data for the portable device representing motion of the portable device at a plurality of epochs over a first period of time;
b) deriving navigation solutions for the epochs based at least in part on the sensor data;
c) estimating position information for the portable device based at least in part on the plurality of navigation solutions at a time subsequent to the first period of time;
d) obtaining map information for an environment encompassing locations of the portable device during the first period of time;
e) generating multiple hypotheses regarding possible positions of the portable device for at least one epoch during the first period of time based at least in part on the estimated position information and map information;
f) managing the hypotheses based at least in part on the estimated position information and the map information;
g) processing the managed hypotheses to update the estimated position information for the portable device;
h) providing an enhanced navigation solution for the at least one epoch using the updated estimated position information; and
i) deriving an uncertainty measure for the enhanced navigation solution.
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Abstract
The navigation solution of a portable device may be enhanced using map information. Sensor data for the portable device may be used to derive navigation solutions at a plurality of epochs over a first period of time. Position information for the device may be estimated at a time subsequent to the first period of time using the navigation solutions. Map information for an area encompassing a current location of the portable device may also be obtained. Multiple hypotheses regarding possible positions of the portable device may be generated using the estimated position information and the map information. By managing and processing the hypotheses, estimated position information for at least one epoch during the first period of time may be updated. An enhanced navigation solution for the at least one epoch may be provided using the updated estimated position information and an uncertainty measure may be derived for the enhanced navigation solution.
28 Citations
45 Claims
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1. A method for estimating uncertainty for an enhanced navigation solution of a portable device and a platform, wherein the mobility of the device is constrained or unconstrained within the platform and wherein the device may be tilted to any orientation, the method comprising:
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a) obtaining sensor data for the portable device representing motion of the portable device at a plurality of epochs over a first period of time; b) deriving navigation solutions for the epochs based at least in part on the sensor data; c) estimating position information for the portable device based at least in part on the plurality of navigation solutions at a time subsequent to the first period of time; d) obtaining map information for an environment encompassing locations of the portable device during the first period of time; e) generating multiple hypotheses regarding possible positions of the portable device for at least one epoch during the first period of time based at least in part on the estimated position information and map information; f) managing the hypotheses based at least in part on the estimated position information and the map information; g) processing the managed hypotheses to update the estimated position information for the portable device; h) providing an enhanced navigation solution for the at least one epoch using the updated estimated position information; and i) deriving an uncertainty measure for the enhanced navigation solution. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. A portable device for estimating uncertainty for an enhanced navigation solution of the portable device and a platform, wherein the mobility of the portable device is constrained or unconstrained within the platform and wherein the portable device may be tilted to any orientation, the portable device comprising:
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a) an integrated sensor assembly, configured to output sensor data representing motion of the portable device for the portable device at a plurality of epochs over a first period of time; b) a navigation module configured to derive navigation solutions based at least in part on the sensor data at the epochs; and c) a processor configured to implement; i) a position estimator for providing estimated position information for the portable device based at least in part on the plurality of navigation solutions at a time subsequent to the first period of time; ii) a map handler for obtaining map information for an environment encompassing locations of the portable device during the first period of time; iii) a hypothesis analyzer for generating multiple hypotheses regarding possible positions of the portable device for at least one epoch during the first period of time based at least in part on the estimated position information and map information, for managing the hypotheses based at least in part on the estimated position information and map information, for processing the managed hypotheses to update the estimated position information for the portable device, and for providing an enhanced navigation solution for the at least one epoch using the updated estimated position information; and iv) an uncertainty estimator for deriving an uncertainty measure for the enhanced navigation solution. - View Dependent Claims (34, 35, 36, 37)
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38. A remote processing resource for estimating uncertainty for an enhanced navigation solution of a portable device and a platform, wherein the mobility of the portable device is constrained or unconstrained within the platform and wherein the portable device may be tilted to any orientation, the remote processing resource comprising:
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a) a communications module for receiving information provided by the portable device, wherein the information corresponds to a plurality of epochs over a first period of time of sensor data representing motion of the portable device; and b) a processor configured to implement; i) a position estimator for providing estimated position information for the portable device based at least in part on a plurality of navigation solutions derived for the epochs at a time subsequent to the first period of time; ii) a map handler for obtaining map information for an environment encompassing locations of the portable device during the first period of time; iii) a hypothesis analyzer for generating multiple hypotheses regarding possible positions of the portable device for at least one epoch during the first period of time based at least in part on the estimated position information and map information, for managing the hypotheses based at least in part on the estimated position information and map information, for processing the managed hypotheses to update the estimated position information for the portable device, and for providing an enhanced navigation solution for the at least one epoch using the updated estimated position information; and iv) an uncertainty estimator for deriving an uncertainty measure for the enhanced navigation solution. - View Dependent Claims (39, 40, 41)
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42. A system for estimating uncertainty for an enhanced navigation solution of a portable device and a platform comprising:
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a) a portable device comprising an integrated sensor assembly, configured to output sensor data representing motion of the portable device for the portable device at a plurality of epochs over a first period of time and a communications module for transmitting information corresponding to the epochs; and b) remote processing resources configured to receive the information from the portable device and having a processor configured to implement; i) a position estimator for providing estimated position information for the portable device based at least in part on a plurality of navigation solutions for the portable device derived for the epochs, at a time subsequent to the first period of time; ii) a map handler for obtaining map information for an environment encompassing locations of the portable device during the first period of time; iii) a hypothesis analyzer for generating multiple hypotheses regarding possible positions of the portable device for at least one epoch during the first period of time based at least in part on the estimated position information and map information, for managing the hypotheses based at least in part on the estimated position information and map information, for processing the managed hypotheses to update the estimated position information for the portable device, and for providing an enhanced navigation solution for the at least one epoch using the updated estimated position information; and iv) an uncertainty estimator for deriving an uncertainty measure for the enhanced navigation solution. - View Dependent Claims (43, 44, 45)
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Specification