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METHOD, APPARATUS, AND COMPUTER PROGRAM PRODUCT FOR ESTABLISHING LOCATION

  • US 20200132858A1
  • Filed: 10/30/2018
  • Published: 04/30/2020
  • Est. Priority Date: 10/30/2018
  • Status: Active Grant
First Claim
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1. An apparatus to facilitate autonomous or semi-autonomous control of a vehicle comprising at least one processor and at least one non-transitory memory including computer program code instructions stored thereon, the computer program code instructions configured to, when executed, cause the apparatus to at least:

  • receive sensor data of an environment of the apparatus;

    estimate object location within the environment based on the sensor data;

    retrieve a static elevation mask;

    generate a learned-elevation mask based, at least in part, on the static elevation mask and the estimated object location within the environment;

    receive signals from a plurality of Global Navigation Satellite System (GNSS) satellites;

    filter the signals from the plurality of GNSS satellites to eliminate from consideration a subset of satellites established as not having a line-of-sight with the apparatus;

    establish a location of the apparatus from remaining satellites established as having a line-of-sight with the apparatus; and

    provide for at least one of route guidance or autonomous vehicle control based on the established location of the apparatus.

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