Method and apparatus for geographically aiding navigation satellite system solution

• US 8,442,763 B2
• Filed: 04/16/2010
• Issued: 05/14/2013
• Est. Priority Date: 04/16/2010
• Status: Active Grant

• Current Assignee: CSR Technology Holdings Inc. (Qualcomm, Inc.)
• Original Assignee: CSR Technology Holdings Inc. (Qualcomm, Inc.)
• Inventors: Tuck, David Allan, Chansarkar, Mangesh, Heshmati, Ardalan
• Primary Examiner(s): Rocca, Joseph
• Assistant Examiner(s): GOODEN JR, BARRY J
• Application Number:
  US12/762,060
• Publication Number:
  US 20110257885A1
• Time in Patent Office: 1,124 Days
• Field of Search: 701/400, 701/408, 701/409, 701/445, 701/446, 701/447, 701/468, 701/469, 701/470, 701/472, 701/479, 701/480, 701/534, 701/535, 701/536
• US Class Current: 701/446
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

The present invention is related to position calculation and navigation systems, and more particularly, to a method and apparatus for making accuracy improvements to a GPS receiver'"'"'s navigation solutions. According to a first aspect, selective cartography information from a map database accessed by a GPS receiver from a location-aiding device is integrated into the position calculations performed by the GPS receiver. According to another aspect, selective cartography information includes indices representing associated attributes of geographical objects, such as, a width-indicator index for a road segment.

Claims

1. A method for improving positional accuracy of a receiver that receives satellite signals for navigation, the method comprising:

deriving an initial location from a navigation satellite system (NSS) data received at a GPS receiver, wherein the initial location is determined to be within an area of interest;

receiving selective cartography information from a location-aiding device coupled to the receiver, wherein the selective cartography information includes attributes of one or more geographic objects within the area of interest;

overlaying the initial location onto the selective cartography information;

deriving positional correction from the NSS data and the selective cartography information, wherein the deriving of the positional correction includes determining whether a radial positional correction, a perpendicular positional correction, or a combination thereof is applicable based on a proximity of the initial location with respect to the attributes of the one or more geographic objects;

applying the derived positional correction to the initial location to determine a corrected location of the receiver; and

outputting the corrected location of the receiver.

2. The method of claim 1, wherein the location-aiding device is one or more of a remote server, and, an on-board computer external to a navigation device containing the receiver but located within a moving object that includes the navigation device.

3. The method of claim 1, wherein the attributes of the one or more geographic objects comprises one or more attributes including:

line segments along roads, intersection points where two roads cross each other;

connection points where a multi-lane road meets with another single or multi-lane road;

end points where a road or a lane terminates;

width of roads;

number of lanes on a road;

designated traffic direction of a road;

width of each lane on a road;

radial dimension of a traffic circle with connection points where corresponding roads connect with the traffic circle; and

center-to-peripheral or corner-to-corner distance of a polygonal traffic plaza with connection points where corresponding roads connect with the traffic plaza.

4. The method of claim 1, wherein the positional correction to be applied is based on one or more metrics including:

the initial location;

uncertainty in the initial location;

perpendicular distance between the initial location and a selected line segment;

radial distance between the initial location and a selected intersection point;

radial distance between the initial location and a selected connection point;

heading direction;

uncertainty in heading direction;

velocity;

uncertainty in velocity;

width of lanes;

uncertainty in the width of lanes;

width of roads; and

uncertainty in the width of roads.

5. The method of claim 1, wherein width-indicator index depends on a number of lanes on a road.

6. The method of claim 1, wherein the area of interest includes geographic regions where acquiring NSS signal is difficult due to one or more obstructions in an environment surrounding the receiver.

7. The method of claim 1, wherein the method further comprises:

receiving navigation state information of the receiver; and

using the navigation state information in conjunction with the NSS data and the selective cartography information to derive the positional correction.

8. The method of claim 7, wherein the navigation state information comprises one or more parameters of the receiver including a position, a heading direction, a velocity, and an altitude.

9. The method of claim 1, wherein a width-indicator index is assigned to intersection points, connection points, or end points of two or more roads or lanes and is stored as an attribute of the corresponding intersection point, connection point, or end point.

10. The method of claim 9, wherein a variance associated with the positional correction to be applied to the initial location is based on the width-indicator index.

11. The method of claim 1, wherein a width-indicator index is assigned to line segments along different roads and lanes, and is stored as an attribute of the corresponding road or lane.

12. The method of claim 11, wherein a variance associated with the positional correction to be applied to the initial location is based on the width-indicator index.

13. The method of claim 1, wherein the method further comprises:

using a navigational routine to correlate selective cartography information with the initial location derived from the NSS data while deriving the positional correction.

14. The method of claim 13, wherein the navigational routine uses one or more following techniques:

least-squares combiner, Kalman filter, maximum likelihood estimator, particle filter, neural networks, and Bayesian estimator.

15. The method of claim 1, wherein the step of receiving selective cartography information comprises:

pre-storing cartography information about one or more areas of interests in a database at the location-aiding device, wherein each said area of interest includes said one or more geographic objects;

assigning attributes to the one or more geographic objects within each said area of interest;

partitioning each said area of interest into units of cartography information including corresponding attributes of one or more of the geographic objects;

using a map-matching algorithm to associate one or more units of cartography information with the determined initial location;

retrieving the one or more associated units of cartography information from the location-aiding device; and

extracting selective cartography information from the associated units of cartography information.

16. The method of claim 15, wherein the map-matching algorithm uses predetermined thresholds, including one or more of a perpendicular distance threshold, and a road segment azimuth threshold to select the associated units of cartography information.

17. The method of claim 15, where the map-matching algorithm further uses navigation state information to select the associated units of cartography information.

18. The method of claim 17, wherein the navigation state information comprises one or more parameters of the receiver including a position, a heading direction, a velocity, and an altitude.

19. The method of claim 1, wherein the step of deriving the positional correction comprises:

determining whether the initial location is closest to an intersection point, a connection point, or an end point, or closest to a line segment along a road.

20. The method of claim 19, wherein if it is determined that the initial location is closest to the intersection point, the connection point, or the end point, the method further comprises:

applying a positional correction based on a radial distance of the initial location from the intersection point, the connection point, or the end point, and a variance assigned for the intersection point, connection point, or the end point.

21. The method of claim 19, wherein if it is determined that the initial location is closest to the line segment along the road, the method further comprises:

applying a positional correction based on a perpendicular distance of the initial location from the line segment, and a variance assigned for the line segment.

22. The method of claim 19, wherein if it is uncertain whether the initial location is closest to the intersection point, the connection point, or the end point, or, closest to the line segment along the road, the method further comprises:

calculating respective radial positional corrections based on corresponding radial distances of the initial location from one or more of the closest intersection points, connection points, and end points, and, respective variances assigned to the closest intersection points, the connection points, and the end points;

calculating respective perpendicular positional corrections based on corresponding perpendicular distances of the initial location from one or more of the closest line segments along roads, and respective variances assigned to the line segments; and

calculating a final positional correction combining the respective radial positional corrections and the respective perpendicular positional corrections.

23. A system for improving positional accuracy of a receiver that receives satellite signals for navigation, wherein the system comprises:

a navigation device containing the receiver; and

a location-aiding device for pre-storing units of cartography information associated with an area of interest, from which selective cartography information is extracted, wherein the location-aiding device comprises one or more of a remote server, and, an on-board computer external to the navigation device but located within a moving object that includes the navigation device,

wherein the navigation device determines whether a radial positional correction, a perpendicular positional correction, or a combination thereof is applicable to improve the positional accuracy of an initial location calculated from the received satellite signals, the determination being based on a proximity of the initial location with respect to attributes of one or more geographic objects included in the extracted selective cartography information.