Determining location and direction of travel using map vector constraints
First Claim
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1. A method comprising:
- performing, by a particle filter running on a computing device, particle seeding on an outdoor road network based on a satellite-based position measurement, wherein the particle seeding includes;
determining a measure of position uncertainty associated with the satellite-based position measurement;
determining a distance based at least in part on the measure of position uncertainty;
selecting a set of one or more road links in the road network that are within the distance of the satellite-based position measurement;
assigning a particle to each road link in the set of one or more road links;
determining a score for each assigned particle; and
determining a relative likelihood value for each assigned particle;
calculating, by the computing device, relative particle weights;
resampling, by the computing device, the particles;
computing, by the computing device, a particle filter solution;
comparing, by the computing device, the particle filter solution with an instantaneous matcher; and
calculating, by the computing device, a map-match given the particles,wherein the method is performed by one or more hardware processors of the computing device.
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Abstract
Systems, methods, and computer program products for determining the location and direction of travel of a mobile device using map vector constraints is disclosed.
18 Citations
20 Claims
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1. A method comprising:
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performing, by a particle filter running on a computing device, particle seeding on an outdoor road network based on a satellite-based position measurement, wherein the particle seeding includes; determining a measure of position uncertainty associated with the satellite-based position measurement; determining a distance based at least in part on the measure of position uncertainty; selecting a set of one or more road links in the road network that are within the distance of the satellite-based position measurement; assigning a particle to each road link in the set of one or more road links; determining a score for each assigned particle; and determining a relative likelihood value for each assigned particle; calculating, by the computing device, relative particle weights; resampling, by the computing device, the particles; computing, by the computing device, a particle filter solution; comparing, by the computing device, the particle filter solution with an instantaneous matcher; and calculating, by the computing device, a map-match given the particles, wherein the method is performed by one or more hardware processors of the computing device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computing device comprising:
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one or more processors; memory coupled to the one or more processors and configured to store instructions, which, when executed by the one or more processors, causes the one or more processors to perform operations comprising; particle seeding for a particle filter on an outdoor road network based on a satellite-based position measurement, wherein the particle seeding includes; determining a measure of position uncertainty associated with the satellite-based position measurement; determining a distance based at least in part on the measure of position uncertainty; selecting a set of one or more road links in the road network that are within the distance of the satellite-based position measurement; assigning a particle to each road link in the set of one or more road links; determining a score for each assigned particle; and determining a relative likelihood value for each assigned particle; propagating the particles along the road network; calculating relative particle weights; resampling the particles; computing a particle filter solution; comparing the particle filter solution with an instantaneous matcher; and calculating a map-match given the particles. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory, computer-readable storage medium having instructions stored thereon, which, when executed by one or more processors, cause the one or more processors to perform operations comprising:
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particle seeding for a particle filter on an outdoor road network based on a satellite-based position measurement, wherein the particle seeding includes; determining a measure of position uncertainty associated with the satellite-based position measurement; determining a distance based at least in part on the measure of position uncertainty; selecting a set of one or more road links in the road network that are within the distance of the satellite-based position measurement; assigning a particle to each road link in the set of one or more road links; determining a score for each assigned particle; and determining a relative likelihood value for each assigned particle; propagating the particles along the road network; calculating relative particle weights; resampling the particles; computing a particle filter solution; comparing the particle filter solution with an instantaneous matcher; and calculating a map-match given the particles. - View Dependent Claims (18, 19, 20)
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Specification