GNSS method and receiver with camera aid

• US 8,374,786 B2
• Filed: 12/11/2008
• Issued: 02/12/2013
• Est. Priority Date: 12/11/2007
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Buros, Julien
• Primary Examiner(s): EL CHANTI, HUSSEIN A
• Application Number:
  US12/741,810
• Publication Number:
  US 20100250133A1
• Time in Patent Office: 1,524 Days
• Field of Search: 701/408, 701/445, 701/448, 701/472
• US Class Current: 701/472
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system

Abstract

A method of computing navigation information in a portable device comprising a GNSS receiver arranged to receive navigation signals from a plurality of navigation satellites, and a GNSS processor to extract a GNSS position information from said navigation signals. The GNSS receiver is also arranged to obtain image data from a camera module. The method comprises the steps of: deriving a set of position information from the camera module; providing the camera-derived position information to a navigation processor; using said set of camera-derived position information and said navigation signals, to generate a position fix of the GNSS receiver; computing navigation information based on said generated position fix.

Claims

1. A method of computing navigation information in a portable device, the device comprising a GNSS receiver, wherein the GNSS receiver is arranged to receive navigation signals from a plurality of navigation satellites, and comprises a GNSS processor, to extract a GNSS position information from the navigation signals, the GNSS receiver being further arranged to obtain data from a camera module, the method comprising the steps of:

deriving a set of position information using the camera module, by estimating a motion of the device from a sequence of images, the sequence of images recorded by the camera module using a lens;

providing the set of camera-derived position information to a navigation processor;

using the set of camera-derived position information and the navigation signals, to generate a position fix of the GNSS receiver, wherein a dead-reckoning position estimation mode is acknowledged upon consistency of the set of camera-derived position information with a uniform motion of the GNSS receiver; and

computing navigation information based on the generated position fix.

2. The method of claim 1, further comprising a step of restricting a search space for the acquisition of the navigation signals received from the plurality of navigation satellites based on the set of camera-derived position information.

3. The method of claim 1, wherein the use of the set of camera-derived position information in the navigation processor is selectively activated when the reception of the navigation signals from the plurality of navigation satellites is poor or absent.

4. The method of claim 1, further comprising a step of recognizing a landmark feature in the image data from the camera module, wherein the step of deriving the set of camera-derived position information from the camera module consists in retrieving previously known position of the landmark feature.

5. The method of claim 4, wherein the step of recognizing a landmark feature is only performed when the GNSS receiver is turned on, the landmark feature being included in a previous image taken by the camera module while the GNSS receiver is turned off.

6. The method of claim 1, wherein the step of deriving the set of position information from the camera module includes power management features.

7. The method of claim 1, further comprising a step of calibration of the set of camera-derived position information.

8. The method of claim 7, wherein the step of calibration is performed through coupling to satellite-based position information derived from the navigation signals received from the plurality of navigation satellites.

9. A device for camera-assisted GNSS navigation, comprising a camera module and a GNSS module which are connected through an interface to a navigation backup module used by a navigation software, wherein:

the GNSS module is configured to receive navigation signals from a plurality of navigation satellites and extract a GNSS position from the navigation signals;

the camera module is configured to derive a set of position information, by estimating a motion of the device from a sequence of images, the sequence of images recorded by the camera module using a lens;

the navigation processor connected to the interface is configured to receive the set of camera-derived position information and use the set of camera-derived position information and the navigation signals, to generate a position fix of the GNSS, wherein the device is configured to acknowledge a dead-reckoning position estimation mode by analyzing the set of camera-derived position information with a uniform motion of the GNSS module; and

the device is configured to compute navigation information based on the generated position fix.

10. The device of claim 9, wherein the navigation backup module further comprising a sensor management module for managing sensors of the camera module and the GNSS module.

11. The device of claim 10, wherein navigation processor is a GNSS processor.

12. The device of claim 10, wherein the navigation backup module further comprising a mapping module for processing the sensor management module data output and deriving position information.

13. The device of claim 9, wherein the navigation software is configured to restrict a search space for the acquisition of the navigation signals received from the plurality of navigation satellites based on the set of camera-derived position information.

14. The device of claim 9, wherein the navigation backup module is configured to selectively activate the use of the set of camera-derived position information when the reception of the navigation signals from the plurality of navigation satellites is poor or absent.

15. The device of claim 9, wherein said navigation backup module is configured to recognize a landmark feature in the image data from the camera module, wherein the set of camera-derived position information consists of retrieving previously known position of the landmark feature.

16. The device of claim 15, wherein the recognition of the landmark feature is only performed when the GNSS module is turned on, and wherein the retrieval of the previously known position of the landmark feature occurs when the GNSS module is turned off.

17. The device of claim 9, wherein the navigation backup module is configured to include power management features when the device is in the dead-reckoning position estimation mode.

18. The device of claim 9, wherein the GNSS module is configured to calibrate the set of camera-derived position information based on the navigation signals received from the plurality of navigation satellites.

19. A computer-program product for enabling a computer to determine navigation information, the computer-program product comprising:

software instructions for enabling the computer to perform predetermined operations; and

a non-transitory computer readable storage medium bearing the software instructions;

the predetermined operations including;

receiving navigation signals from a plurality of navigation satellites;

extract a GNSS position information from the navigation signals;

deriving a set of position information using a camera module by estimating a motion of the camera module from a sequence of images, the sequence of images recorded by the camera module using a lens;

providing the set of camera-derived position information to a navigation processor;

using the set of camera-derived position information and the navigation signals to generate a position fix of the camera module, wherein a dead-reckoning position estimation mode is acknowledged upon consistency of the set of camera-derived position information with a uniform motion of the GNSS receiver; and

computing navigation information based on the generated position fix.

20. The computer program product of claim 19, wherein the predetermined operations further includes restricting a search space for acquisition of the navigation signals received from the plurality of navigation satellites based on the set of camera-derived position information.

21. The computer program product of claim 19, wherein the predetermined operations further includes selectively activating the use of the set of camera-derived position information when the reception of the navigation signals from the plurality of navigation satellites is poor or absent.

22. The computer program product of claim 19, wherein the predetermined operations further includes recognizing a landmark feature in the image data from the camera module, wherein the deriving the set of camera-derived position information from the camera module consists in retrieving previously known position of the landmark features.

23. The computer program product of claim 19, wherein the predetermined operations further includes managing power features of the device.

24. The computer program product of claim 19, wherein the predetermined operations further includes calibrating the set of camera-derived position information based on the navigation signals received from the plurality of navigation satellites.