Real-time data with post-processing

• US 9,074,897 B2
• Filed: 06/15/2009
• Issued: 07/07/2015
• Est. Priority Date: 06/15/2009
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Kulik, Victor, Czompo, Joseph
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US12/484,913
• Publication Number:
  US 20100318292A1
• Time in Patent Office: 2,213 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

The subject matter disclosed herein relates to determining and/or predicting a navigation solution.

Claims

1. A mobile device comprising:

a receiver to receive RF signals;

a memory; and

a special purpose computing device adapted to operate in an RF environment to;

process information, represented by first signals, obtained in a first time period to obtain one or more measurements associated with said first time period;

store unprocessed information obtained in said first time period;

compute an estimate and/or a prediction of a state following said first time period based, at least in part, on said one or more measurements, wherein said state comprises a position and/or trajectory;

obtain additional information, represented by second signals, subsequent to said first time period;

re-process at least a portion of said stored unprocessed information obtained in said first time period combined with said additional information obtained subsequent to said first time period to obtain updates to said one or more measurements associated with said first time period; and

re-compute said estimate and/or prediction of said state that was estimated and/or predicted based on the one or more measurements obtained in the first time period based, at least in part, on said updates obtained by the re-processing of the stored unprocessed information obtained in said first time period combined with said additional information obtained subsequent to said first time period.

2. The mobile device of claim 1, wherein said computing device is further adapted to determine a real-time navigation solution based at least in part on said re-computed estimate and/or prediction of said state.

3. The mobile device of claim 1, further comprising a Kalman filter.

4. The mobile device of claim 1, wherein said computing device is further adapted to obtain said additional information responsive at least in part to a changing RF environment.

5. The mobile device of claim 1, wherein said additional information provides data to measure one or more pseudoranges.

6. The mobile device of claim 5, wherein said one or more pseudoranges are associated with one or more space vehicles.

7. The mobile device of claim 5, wherein said one or more pseudorange measurements are associated with one or more base stations.

8. The mobile device of claim 1, wherein said additional information comprises a wireless system time.

9. The mobile device of claim 1, wherein said additional information comprises ephemeris data associated with one or more space vehicles.

10. The mobile device of claim 1, wherein said additional information comprises Satellite Based Augmentation System (SBAS) correction information.

11. The mobile device of claim 1, wherein said information obtained in said first time period comprises pseudorange and/or Doppler information acquired from one or more reference stations.

12. The mobile device of claim 1, further comprising an accelerometer, gyro, and/or compass.

13. An apparatus comprising:

means for processing information, represented by first signals, obtained in a first time period to obtain one or more measurements associated with said first time period;

means for storing unprocessed information obtained in said first time period;

means for estimating and/or predicting a state following said first time period based, at least in part, on said one or more measurements associated with said first time period, wherein said state comprises a position and/or trajectory;

means for obtaining additional information, represented by second signals, subsequent to said first time period;

means for re-processing at least a portion of said stored unprocessed information obtained in said first time period combined with said additional information obtained subsequent to said first time period to obtain updates to said one or more measurements associated with said first time period; and

means for re-estimating and/or re-predicting said state that was estimated and/or predicted based on the one or more measurements obtained in the first time period based, at least in part, on said updates obtained by the re-processing of the stored unprocessed information obtained in said first time period combined with said additional information obtained subsequent to said first time period.

14. The apparatus of claim 13, wherein said estimating and/or predicting a state is performed using a Kalman filter.

15. The apparatus of claim 13, further comprising:

means for determining a real-time navigation solution based at least in part on said re-estimated and/or re-predicted state.

16. The apparatus of claim 13, wherein said means for obtaining additional information further comprises means for obtaining signals representing said additional information responsive at least in part to a changing RF environment.

17. The apparatus of claim 13, wherein said additional information provides data to measure one or more pseudoranges.

18. The apparatus of claim 17, wherein said one or more pseudoranges are associated with one or more space vehicles.

19. The apparatus of claim 13, wherein said additional information comprises a wireless system time.

20. The apparatus of claim 13, wherein said additional information comprises ephemeris data associated with one or more space vehicles.

21. A computer readable storage medium comprising machine-readable instructions stored thereon which, if executed by a special purpose computing device, are adapted to enable said special purpose computing device to:

process information, represented by first signals, obtained in a first time period to obtain one or more measurements associated with said first time period;

store unprocessed information obtained in said first time period;

estimate and/or predict a state following said first time period based, at least in part, on said one or more measurements associated with said first time period, wherein said state comprises a position and/or trajectory;

obtain additional information, represented by second signals, subsequent to said first time period;

re-process at least a portion of said stored unprocessed information obtained in said first time period combined with said additional information obtained subsequent to said first time period to obtain updates to said one or more measurements associated with said first time period; and

re-estimate and/or re-predict said state that was estimated and/or predicted based on the one or more measurements obtained in the first time period based, at least in part, on said updates obtained by the re-processing of the stored information obtained in said first time period combined with said additional information obtained subsequent to said first time period.

22. The article of claim 21, wherein said machine-readable instructions are further adapted to enable said special purpose computing device to estimate and/or predict said state using a Kalman filter.

23. The article of claim 21, wherein said machine-readable instructions are further adapted to enable said special purpose computing device to obtain said additional information responsive at least in part to a changing RF environment.

24. The article of claim 21, wherein said additional information provides data to measure one or more pseudoranges.

25. The article of claim 24, wherein said one or more pseudoranges are associated with one or more space vehicles.

26. The article of claim 21, wherein said additional information comprises a wireless system time.

27. The article of claim 21, wherein said additional information comprises ephemeris data associated with one or more space vehicles.

28. A method comprising:

processing, at a device, wirelessly received signals representing information obtained in a first time period to obtain one or more measurements associated with said first time period, wherein said wirelessly received signals representing the information obtained in said first time period are stored in the device'"'"'s memory;

obtaining, at the device, additional wirelessly received signals representing additional information subsequent to said first time period;

re-processing, at the device, at least a portion of said stored unprocessed wirelessly received signals representing said information obtained in said first time period combined with said additional information represented by the additional wirelessly received signals to obtain updates to said one or more measurements associated with said first time period and to re-predict with the updates to the one or more measurements obtained from the wirelessly received signals and the additional wirelessly received signals a first state that was predicted earlier with the one or more measurements obtained based only on the wirelessly received signals representing the information obtained at the first time period;

estimating and/or predicting, at the device, the first state based, at least in part, on said updates to said one or more measurements associated with said first time period obtained by the re-processing of the stored unprocessed information obtained in said first time period combined with said additional information obtained subsequent to said first time period, wherein said first state comprises a position and/or trajectory; and

applying, at the device, said first state to a map matching algorithm.

29. The method of claim 28, wherein said estimating and/or predicting a state is performed using a Kalman filter.

30. The method of claim 28, wherein obtaining signals representing additional information further comprises obtaining said signals representing said additional information responsive at least in part to a changing RF environment.

31. The method of claim 28, wherein said additional information provides data to measure one or more pseudoranges.

32. A method comprising:

processing, at a device, wirelessly received signals representing information obtained in a first time period to obtain one or more measurements associated with said first time period, wherein said wirelessly received signals representing the information obtained in said first time period are stored in the device'"'"'s memory;

obtaining, at the device, inertial navigation system (INS) signals representing additional information subsequent to said first time period;

re-processing, at the device, at least a portion of said stored unprocessed wirelessly received signals representing said information obtained in said first time period combined with said additional information represented by the INS signals to obtain updates to said one or more measurements associated with said first time period; and

estimating and/or predicting, at the device, a state based, at least in part, on said updates to said one or more measurements associated with said first time period obtained by the re-processing of the stored unprocessed information obtained in said first time period combined with said additional information obtained subsequent to said first time period, wherein said state comprises a position and/or trajectory.

33. The method of claim 32, wherein said estimating and/or predicting a state is performed using a Kalman filter.

34. The method of claim 32, wherein said INS signals are based, at least in part, on an accelerometer, a gyro, and/or a compass.

35. A method comprising:

storing in memory of a device wirelessly received signals representing information obtained in a first time period;

processing, at the device, the wirelessly received signals representing the information obtained in the first time period to obtain one or more measurements associated with said first time period;

estimating and/or predicting, at the device, a state following said first time period based, at least in part, on said one or more measurements associated with said first time period, wherein said state comprises a position and/or trajectory;

obtaining, at the device, additional wirelessly received signals representing additional information subsequent to said first time period;

re-processing, at the device, at least a portion of said unprocessed stored wirelessly received signals representing said information obtained in said first time period combined with said additional information represented by the additional wirelessly received signals to obtain updates to said one or more measurements associated with said first time period and to re-predict with the updates to the one or more measurements obtained from the wirelessly received signals and the additional wirelessly received signals the first state that was predicted earlier with the one or more measurements obtained based only on the wirelessly received signals representing the information obtained at the first time period; and

re-estimating and/or re-predicting, at the device, said state based, at least in part, on said updates to said one or more measurements associated with said first time period.

36. The method of claim 35, wherein said estimating and/or predicting a state is performed using a Kalman filter.

37. The method of claim 35, further comprising:

determining a real-time navigation solution based at least in part on said re-estimated and/or re-predicted state.

38. The method of claim 35, wherein said obtaining additional information is responsive at least in part to a changing RF environment.

39. The method of claim 35, wherein said additional information provides data to measure one or more pseudorange measurements.

40. The method of claim 39, wherein said one or more pseudorange measurements are associated with one or more space vehicles.

41. The method of claim 39, wherein said one or more pseudoranges are associated with one or more base stations.

42. The method of claim 35, wherein said additional information comprises a wireless system time.

43. The method of claim 35, wherein said additional information comprises ephemeris data associated with one or more space vehicles.

44. The method of claim 35, wherein said additional information comprises Satellite Based Augmentation System (SBAS) correction information.

45. The method of claim 35, wherein said information obtained in said first time period comprises pseudorange and/or Doppler information acquired from one or more reference stations.

46. The method of claim 35, wherein said information obtained in said first time period comprises position and/or velocity measurements acquired from an accelerometer, gyro, and/or compass on-board a mobile station.

47. The method of claim 35, further comprising:

comparing said position and/or trajectory with a model of a road network to determine a location with respect to said road network.

48. The method of claim 35, wherein said information obtained in said first time period comprises one or more pseudorange measurements.

49. The method of claim 48, wherein said one or more pseudorange measurements are associated with one or more space vehicles.

50. The method of claim 48, wherein said one or more pseudorange measurements are associated with one or more base stations.

51. The method of claim 35, wherein said information obtained in said first time period comprises ephemeris data associated with one or more space vehicles.

52. The method of claim 35, further comprising:

displaying said one or more measurements during said first time period.

53. The method of claim 35, wherein said updates to said one or more measurements comprise one or more additional measurements.