Reducing elevation error with environmental pressure anomaly compensation

• US 9,322,648 B1
• Filed: 05/15/2015
• Issued: 04/26/2016
• Est. Priority Date: 06/12/2012
• Status: Active Grant

• Current Assignee: TRX Systems, Inc.
• Original Assignee: TRX Systems, Inc.
• Inventors: Karvounis, John, Napora, Jared, Hakim, Dan, Teolis, Carole, Miller, John Riley, Funk, Benjamin E.
• Primary Examiner(s): Bui, Bryan
• Application Number:
  US14/714,209
• Time in Patent Office: 347 Days
• Field of Search: 702/138
• US Class Current: 1/1
• CPC Class Codes: G01C 5/06 by using barometric means

Abstract

A method for determining an environmental pressure change affecting a pressure sensor within a portable device to determine an elevation of the portable device is disclosed. The method involves sampling pressure data from at least one stationary pressure sensor in an area surrounding a location of the device, wherein the stationary pressure sensor in not within the portable device. The sampled pressure data is then interpolated to a time interval and a difference is computed between the interpolated pressure data over each time interval to determine a differential pressure. The location of the stationary pressure sensor is determined and the differential pressure is added to a pressure map affecting data near the location. The environmental pressure change is then computed over any interval at the location and subtracted from a pressure measurement of the pressure sensor before computing an elevation of the portable device.

Claims

1. A computer-implemented method for determining an environmental pressure change affecting a pressure sensor within a portable device to determine an elevation of the mobile device, comprising:

sampling pressure data from at least one stationary pressure sensor in an area surrounding a location of the device, wherein the at least one stationary pressure sensor is not within the portable device;

interpolating the sampled pressure data to a time interval;

computing a difference between the interpolated pressure data over each time interval to determine a differential pressure;

determining a location of the at least one stationary pressure sensor;

adding the differential pressure to a pressure map affecting data near the location, wherein the pressure map is segmented into a plurality of tiles;

computing the environmental pressure change over any interval at the location; and

subtracting the environmental pressure change from a pressure measurement of the pressure sensor to determine a corrected pressure measurement before computing an elevation of the portable device.

2. The computer-implemented method of claim 1, the method further comprising:

generating an elevation of the portable device based, in part, on the corrected pressure measurement.

3. The computer-implemented method of claim 1, wherein the location is associated with an area associated with a first map tile of the plurality of tiles, and wherein the differential pressure is used to compute a second environmental pressure change associated with a second map tile of the plurality of tiles, the second map tile sharing a contiguous border with the first map tile.

4. The computer-implemented method of claim 3, wherein a second differential pressure is computed using interpolated pressure data associated with a plurality of stationary pressure sensors located in an area associated with the second map tile.

5. The computer-implemented method of claim 4, wherein the second differential pressure and the differential pressure determined for the first map tile are used to compute a third environmental pressure change associated with a third map tile of the plurality of tiles, the third map tile sharing a contiguous border with the second map tile and being adjacent to the first map tile.

6. The computer-implemented method of claim 4, wherein a third differential pressure is computed using interpolated pressure data associated with a plurality of stationary pressure sensors located in an area associated with a third map tile.

7. The computer-implemented method of claim 6, wherein the environmental pressure change associated with the first map tile is based, in part, on the third differential pressure.

8. The computer-implemented method of claim 3, wherein differential pressure computed for tiles of the plurality of tiles that surround the first map tile are cumulatively summed over particular time intervals to compute environmental pressure changes.

9. A computing system for determining an elevation of a mobile device, the computing system comprising:

one or more processors; and

a memory communicatively coupled to the one or more processors, the memory bearing instructions that when executed on the one or more processors, cause the computing system to;

estimate a location of the mobile device;

estimate an atmospheric pressure associated with the mobile device at a server based on reference data indicative of atmospheric pressure associated with a first map tile containing the estimated location of the mobile device and data indicative of atmospheric pressure as measured by a pressure sensor within the mobile device; and

generate the elevation of the mobile device based on the atmospheric pressure associated with the mobile device,

the first map tile being one of a plurality of contiguous map tiles comprising a reference map, the reference data being based, in part, on a map tile offset associated with a second map tile, the second map tile being adjacent to the first map tile and one of the plurality of contiguous map tiles, the map tile offset indicative of an atmospheric pressure at the second map tile.

10. The computing system of claim 9, wherein the map tile offset is determined by averaging one or more offsets received from static computing devices located within an area contained by the second map tile, each of the one or more offsets representing an indication of an atmospheric pressure associated with a particular static computing device.

11. The computing system of claim 10, wherein averaging the one or more offsets is done based on a time correlation between the static computing devices.

12. The computing system of claim 10, wherein each of the one or more offsets is determined by computing a difference of an interpolated pressure signal associated with the particular static computing device over sampling intervals.

13. The computing system of claim 10, wherein the at least one stationary pressure sensor is associated with a stationary computing device, the stationary computing device is one or more of:

an infrastructure sensor, a stationary vehicle sensor, a stationary smart phone, and a building sensor.

14. The computing system of claim 10, wherein an estimate is determined for the map tile offset when no atmospheric data is available for the second map tile using atmospheric data associated with one or more of the plurality of contiguous map tiles adjacent to the second map tile.

15. The computing system of claim 14, wherein the estimate is determined based on a map tile offset of one or more of the plurality of contiguous map tiles within a specified distance of the second map tile.

16. The computing system of claim 9, wherein the map tile offset is based, in part, on map tile offsets associated with a third map tile and a fourth map tile, the third map tile and the fourth map tile each being:

nonadjacent to the first map tile;

adjacent to the second map tile; and

one of the plurality of contiguous map tiles.

17. A computer-implemented method for determining an elevation of a mobile device, the method being executed on a server and comprising:

estimating an atmospheric pressure associated with the mobile device based on reference data received from a reference database communicatively coupled to the server and data indicative of atmospheric pressure as measured by a pressure sensor within the mobile device; and

generating the elevation of the mobile device based on the atmospheric pressure associated with the mobile device, wherein the data indicative of atmospheric pressure is filtered based on inertial data associated with the mobile device prior to estimating the atmospheric pressure associated with the mobile device.

18. The computer-implemented method of claim 17, wherein the data indicative of atmospheric pressure is filtered based on correlations between the data indicative of atmospheric pressure and vertical accelerations associated with the mobile device exceeding an acceleration threshold.

19. The computer-implemented method of claim 17, wherein the inertial data is filtered to remove gravitational effects prior to the data indicative of atmospheric pressure being filtered based on the inertial data.

20. The computer-implemented method of claim 19, wherein the inertial data is filtered using a low pass filter.