Indoor positioning using pressure sensors

• US 9,234,965 B2
• Filed: 09/17/2010
• Issued: 01/12/2016
• Est. Priority Date: 09/17/2010
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Venkatraman, SaiPradeep
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US12/885,077
• Publication Number:
  US 20120072110A1
• Time in Patent Office: 1,943 Days
• Field of Search: 455/456.1, 455/456.2, 455/456.3, 455/456.5, 455/456.6, 455/457, 455/517, 455/524, 455/525, 370/328, 701/408, 701/409, 701/439, 701/519, 701/526, 701/541, 701/434, 702/176, 702/177, 702/187, 702/150, 702/153, 702/94, 733/85
• US Class Current: 1/1
• CPC Class Codes: G01C 21/08 involving use of the magnetic field of the earth
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 5/06 by using barometric means
• CPC Class Codes: G01S 19/10 providing dedicated supplementary positioning signals
• CPC Class Codes: G01S 19/46 the supplementary measurement being of a radio-wave signal type
• CPC Class Codes: G01S 5/0045 Transmission from base station to mobile station G01S5/009 takes precedence
• CPC Class Codes: G01S 5/0063 of measured values, i.e. measurement on base station and position calculation on mobile
• CPC Class Codes: G01S 5/0236 Assistance data, e.g. base station almanac
• CPC Class Codes: G01S 5/02585 at least one of the measurements being a non-radio measurement
• CPC Class Codes: G08B 25/10 using wireless transmission systems G08B25/009 takes precedence
• CPC Class Codes: G09B 29/00 Maps; Plans; Charts; Diagrams, e.g. route diagram star maps G09B27/04; devices for holding or supporting maps A47B97/02; for computing purposes G06G1/14, G09B1/16; display boards G09F
• CPC Class Codes: G09B 29/008 Touring maps or guides to public transport networks
• CPC Class Codes: G09B 29/10 Map spot or coordinate position indicators; Map reading aids optical projection apparatus per se G03B

Abstract

A pressure sensor can be implemented on a network device to minimize vertical positioning errors of the network device in an indoor environment. A reference altitude and a reference pressure associated with an access point in the indoor environment are received at the network device via a communication network. A pressure is determined at the network device in the indoor environment. An altitude of the network device associated with the pressure at the network device in the indoor environment is calculated based, at least in part, on the pressure at the network device, the reference pressure, and the reference altitude. A position of the network device in the indoor environment is determined based, at least in part, on the altitude of the navigation device and location information received from at least the access point.

Claims

1. A method for position estimation, the method comprising:

receiving, by a location server, a request for reference information from a wireless network device located in an indoor environment, wherein the indoor environment also includes a first access point;

determining, by the location server, whether the location server is located in a same indoor environment as the first access point and the wireless network device based, at least in part, on a value stored at the location server;

in response to determining that the location server is located in the same indoor environment,

determining, by the location server, a reference altitude and a reference pressure at the location server; and

transmitting, by the location server, the reference altitude and the reference pressure to the wireless network device for the wireless network device to determine its altitude in the indoor environment in response to determining that the location server is not located in the same indoor environment,

determining, by the location server, an altitude of the first access point and a pressure at the first access point; and

transmitting, by the location server, the altitude of the first access point and the pressure at the first access point to the wireless network device for the wireless network device to determine its altitude in the indoor environment.

2. The method of claim 1, wherein the indoor environment includes a plurality of access points, further comprising:

determining, by the location server, multiple pressure and altitude measurements from the plurality of access points; and

transmitting, by the location server, the multiple pressure and altitude measurements to the wireless network device for the wireless network device to determine its altitude in the indoor environment based, at least in part, on the multiple pressure and altitude measurements.

3. The method of claim 1, further comprising:

transmitting, by the location server, a message to the first access point requesting the first access point to provide the altitude of the first access point, the pressure at the first access point, and a horizontal position of the first access point.

4. The method of claim 1, further comprising:

determining, by the location server, a reference horizontal position, wherein said determining the reference horizontal position includes one of;

determining, by the location server, a horizontal position of the first access point;

or

determining, by the location server, a horizontal position of the location server.

5. The method of claim 4, further comprising:

transmitting, by the location server, the reference horizontal position to the wireless network device for the wireless network device to determine its horizontal position in the indoor environment.

6. The method of claim 1, wherein the reference pressure at the location server is determined using a pressure sensor on the location server.

7. The method of claim 1, wherein the location server receives the request for reference information from the wireless network device when the first access point is not capable of determining a pressure at the first access point.

8. The method of claim 1, further comprising:

receiving, by the location server, contextual information associated with the indoor environment from the wireless network device; and

determining, by the location server, an altitude of the wireless network device based, at least in part, on the contextual information.

9. The method of claim 8, wherein the contextual information includes at least one member selected from the group consisting of a building level where the wireless network device is located, a name of a shop closest to the wireless network device, and an image of the shop closest to the wireless network device.

10. The method of claim 1, wherein a second wireless network device is located in the indoor environment, further comprising:

determining the first access point located in the indoor environment is not capable of determining a pressure at the first access point and an altitude of the first access point; and

adopting, by the first access point, an altitude associated with the second wireless network device as a reference altitude of the first access point, and a pressure associated with the second wireless network device as a reference pressure of the first access point.

11. The method of claim 10, further comprising:

rebroadcasting, by the first access point, the altitude associated with the second wireless network device and the pressure associated with the second wireless network device to a second access point of the indoor environment.

12. The method of claim 1, wherein said determining the altitude of the first access point and the pressure at the first access point comprises:

receiving, by the location server, a reference pressure and a reference altitude from the first access point that the first access point received from a second wireless network device located in the indoor environment.

13. The method of claim 1, further comprising:

determining, by the location server, a horizontal position of the first access point; and

transmitting, by the location server, the horizontal position of the first access point to the wireless network device for the wireless network device to determine its horizontal position in the indoor environment.

14. The method of claim 13, wherein said determining the altitude of the first access point, the pressure at the first access point, and the the horizontal position of the first access point comprises:

receiving, by the location server, a rebroadcast from the first access point of a reference pressure, a reference altitude, and a reference horizontal position received from a second wireless network device located in the indoor environment.

15. The method of claim 1, wherein said determining whether the location server is located in the same indoor environment comprises determining whether the location server is located in a same building as the first access point and the wireless network device.

16. A location server comprising:

a processor; and

a memory to store instructions, which when executed by the processor, cause the location server to;

receive a request for reference information from a wireless network device located in an indoor environment, wherein the indoor environment also includes a first access point;

determine whether the location server is located in a same indoor environment as the first access point and the wireless network device based, at least in part, on a value stored at the location server;

in response to determining that the location server is located in the same indoor environment,

determine a reference altitude and a reference pressure at the location server; and

transmit the reference altitude and the reference pressure to the wireless network device for the wireless network device to determine its altitude in the indoor environment in response to determining that the location server is not located in the same indoor environment,

determine an altitude of the first access point and a pressure at the first access point; and

transmit the altitude of the first access point and the pressure at the first access point to the wireless network device for the wireless network device to determine its altitude in the indoor environment.

17. The location server of claim 16, wherein the indoor environment includes a plurality of access points, wherein the instructions, which when executed by the processor, further cause the location server to:

determine multiple pressure and altitude measurements from the plurality of access points; and

transmit the multiple pressure and altitude measurements to the wireless network device for the wireless network device to determine its altitude in the indoor environment based, at least in part, on the multiple pressure and altitude measurements.

18. The location server of claim 16, wherein the instructions, which when executed by the processor, further cause the location server to:

determine a reference horizontal position based, at least in part, on one of a horizontal position of the first access point or a horizontal position of the location server.

19. The location server of claim 18, wherein the instructions, which when executed by the processor, further cause the location server to:

transmit the reference horizontal position to the wireless network device for the wireless network device to determine its horizontal position in the indoor environment.

20. The location server of claim 16, further comprising a pressure sensor configured to determine the reference pressure at the location server.

21. The location server of claim 16, wherein the instructions, which when executed by the processor, further cause the location server to:

determine a horizontal position of the first access point; and

transmit the horizontal position of the first access point to the wireless network device for the wireless network device to determine its horizontal position in the indoor environment.

22. A non-transitory machine-readable storage medium having instructions stored therein, which when executed by a processor causes the processor to perform operations that comprise:

receiving, by a location server, a request for reference information from a wireless network device located in an indoor environment, wherein the indoor environment also includes a first access point;

determining, by the location server, whether the location server is located in a same indoor environment as the first access point and the wireless network device based, at least in part, on a value stored at the location server;

in response to determining that the location server is located in the same indoor environment,

determining, by the location server, a reference altitude and a reference pressure at the location server; and

transmitting, by the location server, the reference altitude and the reference pressure to the wireless network device for the wireless network device to determine its altitude in the indoor environment in response to determining that the location server is not located in the same indoor environment,

determining, by the location server, an altitude of the first access point and a pressure at the first access point; and

transmitting, by the location server, the altitude of the first access point and the pressure at the first access point to the wireless network device for the wireless network device to determine its altitude in the indoor environment.

23. The non-transitory machine-readable storage medium of claim 22, wherein the indoor environment includes a plurality of access points, wherein the operations further comprise:

determining, by the location server, multiple pressure and altitude measurements from the plurality of access points; and

transmitting, by the location server, the multiple pressure and altitude measurements to the wireless network device for the wireless network device to determine its altitude in the indoor environment based, at least in part, on the multiple pressure and altitude measurements.