Indoor localization of mobile devices
First Claim
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1. A method of determining a location of a portable handheld device in an indoor space:
- identifying a map of an indoor space, the map being based on a plurality of constraints;
generating, by a processor, a first set of particles, each particle of the first set of particles representing a location on the map and being associated with a likelihood value;
receiving data from an orientation device including a gyroscope;
determining a direction and speed of movement based on the received data;
applying the direction and speed of movement to each one of the first set of particles;
adjusting, by the processor the likelihood value of each particular particle of the first set of particles, based on whether the particular particle violated one or more of the plurality of constraints;
generating a second set of particles based on the likelihood values associated with the first set of particles;
selecting, by the processor a particular particle of the second set of particles closest to an average representative location of the second set of particles when all of the particles of the second set of particles are within a threshold radius of one another; and
identifying, by the processor an actual location of the portable handheld device in the indoor space based on a representative location of the selected particle.
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Abstract
Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More specifically, aspects relate to using a particle filter in conjunction with a gyroscope and/or accelerometer to identify a current location of a client device with respect to a map. In one example, the map may be based upon a map including a series of walls representing locations where a user may not walk within a building. In another example, the map may be based upon a series of rails representing locations where a user may walk within a building.
69 Citations
21 Claims
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1. A method of determining a location of a portable handheld device in an indoor space:
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identifying a map of an indoor space, the map being based on a plurality of constraints; generating, by a processor, a first set of particles, each particle of the first set of particles representing a location on the map and being associated with a likelihood value; receiving data from an orientation device including a gyroscope;
determining a direction and speed of movement based on the received data;applying the direction and speed of movement to each one of the first set of particles; adjusting, by the processor the likelihood value of each particular particle of the first set of particles, based on whether the particular particle violated one or more of the plurality of constraints; generating a second set of particles based on the likelihood values associated with the first set of particles; selecting, by the processor a particular particle of the second set of particles closest to an average representative location of the second set of particles when all of the particles of the second set of particles are within a threshold radius of one another; and identifying, by the processor an actual location of the portable handheld device in the indoor space based on a representative location of the selected particle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A device for determining a location of a portable handheld device in an indoor space, the device comprising:
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memory storing a map of an indoor space, the map being based on a plurality of constraints; a processor coupled to the memory, the processor being operable to; generate a first set of particles, each particle of the first set of particles representing a location on the map and being associated with a likelihood value; receive data generated by an orientation device; determine a direction and speed of movement based on the received data; apply the direction and speed of movement to each one of the first set of particles; adjust the likelihood value of each particular particle of the first set of particles, based on whether the particular particle violated one or more of the plurality of constraints; generate a second set of particles based on the likelihood values associated with the first set of particles; select a particular particle of the second set of particles closest to an average representative location of the second set of particles when if all of the particles of the second set of particles are within a threshold radius of one another; and identify an actual location of the portable handheld device in the indoor space based on a representative location of the selected particle. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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Specification