Altitude estimation using a probability density function

• US 9,497,593 B2
• Filed: 08/25/2014
• Issued: 11/15/2016
• Est. Priority Date: 06/03/2011
• Status: Active Grant

• Current Assignee: Apple Inc.
• Original Assignee: Apple Inc.
• Inventors: Marti, Lukas M., MacGougan, Glenn Donald, Mayor, Robert, Huang, Ronald K., Dere, Jason, Grosman, Yefim
• Primary Examiner(s): TAYLOR, NATHAN SCOTT
• Application Number:
  US14/468,278
• Publication Number:
  US 20140364144A1
• Time in Patent Office: 813 Days
• Field of Search: 4554561-4565, 455/436, 455/404.2
• US Class Current: 1/1
• CPC Class Codes: G01C 5/00 Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels G01C3/20, G01C3/30 take precedence
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile
• CPC Class Codes: G01S 5/0236 Assistance data, e.g. base station almanac
• CPC Class Codes: G01S 5/0242 Determining the position of transmitters to be subsequently used in positioning G01S5/0289 takes precedence
• CPC Class Codes: G01S 5/0278 involving statistical or probabilistic considerations G01S5/0252, G01S5/0294 take precedence
• CPC Class Codes: H04W 24/00 Supervisory, monitoring or testing arrangements
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management
• CPC Class Codes: H04W 64/003 locating network equipment

Abstract

Methods, program products, and systems of location estimation using a probability density function are disclosed. In general, in one aspect, a server can estimate an effective altitude of a wireless access gateway using harvested data. The server can harvest location data from multiple mobile devices. The harvested data can include a location of each mobile device and an identifier of a wireless access gateway that is located within a communication range of the mobile device. The server can calculate an effective altitude of the wireless access gateway using a probability density function of the harvested data. The probability density function can be a sufficient statistic of the received set of location coordinates for calculating an effective altitude of the wireless access gateway. The server can send the effective altitude of the wireless access gateway to other mobile devices for estimating altitudes of the other mobile devices.

Claims

1. A method comprising:

receiving, by one or more computers and from a plurality of mobile devices, harvested data about a wireless access gateway, the harvested data including respective locations of the mobile devices recorded by the mobile devices when the respective mobile devices were in communication range of the wireless access gateway, each location being represented using respective latitude and longitude coordinates;

determining, by the one or more computers, a value of a function, the function weighting a first difference between latitude coordinates of two locations in the harvested data and a second difference between longitude coordinates of two locations in the harvested data; and

in response to determining that the value exceeds a distance threshold, designating, in determining a location of a mobile device using locations of one or more wireless access gateways, the wireless access gateway as a moving wireless access gateway.

2. The method of claim 1, wherein the wireless access gateway is a wireless access point, a cellular tower, or a Bluetooth™

device.

3. The method of claim 1, wherein:

the first difference between the latitude coordinates is given a first weight in the function,

the second difference between longitude coordinates is given a second weight in the function, and

higher latitudes corresponds to higher first weight over the second weight.

4. The method of claim 1, comprising, upon designating the wireless access gateway as a moving wireless access gateway:

determining a time of movement of the wireless access gateway;

determining a geographic grid representing a location of the wireless access gateway at a time after the time of movement, the geographic grid being associated with a probability density function indicating a respective probability that the mobile device is located at a plurality of bin locations in the grid; and

providing a record of the geographic grid and the probability density function to the mobile device for determining the location of the mobile device.

5. The method of claim 4, wherein determining the geographic grid comprises filtering the harvested data by the time of movement, including selecting, from the harvested data, locations having timestamps after the time of movement for determining the geographic grid.

6. The method of claim 1, comprising, upon designating the wireless access gateway as a moving wireless access gateway:

determining a first time of movement of the wireless access gateway and a second time of movement of the wireless access gateway;

determining a difference between the first time of movement and the second time of movement; and

upon determining that the difference between the first time of movement and the second time of movement is less than an exclusion threshold, designating the wireless access gateway as a low value wireless access gateway and excluding the wireless access gateway from future location estimation.

7. The method of claim 1, wherein:

each location is further represented using a respective altitude coordinate, and

the function further weights a third difference between altitude coordinates between two locations in the harvested data.

8. The method of claim 7, wherein the function squares each of the first difference, second difference, and third difference before weighting.

9. A system comprising:

one or more computers; and

a non-transitory computer-readable medium storing instructions that, when executed by the one or more computers, cause the one or more computers to perform operations comprising;

receiving, from a plurality of mobile devices, harvested data about a wireless access gateway, the harvested data including respective locations of the mobile devices recorded by the mobile devices when the respective mobile devices were in communication range of the wireless access gateway, each location being represented using respective latitude and longitude coordinates;

determining a value of a function, the function weighting a first difference between latitude coordinates of two locations in the harvested data and a second difference between longitude coordinates of two locations in the harvested data; and

in response to determining that the value exceeds a distance threshold, designating, in determining a location of a mobile device using locations of one or more wireless access gateways, the wireless access gateway as a moving wireless access gateway.

10. The system of claim 9, wherein the wireless access gateway is a wireless access point, a cellular tower, or a Bluetooth™

device.

11. The system of claim 9, wherein:

the first difference between the latitude coordinates is given a first weight in the function,

the second difference between longitude coordinates is given a second weight in the function, and

higher latitudes corresponds to higher first weight over the second weight.

12. The system of claim 9, the operations comprising, upon designating the wireless access gateway as a moving wireless access gateway:

determining a time of movement of the wireless access gateway;

determining a geographic grid representing a location of the wireless access gateway at a time after the time of movement, the geographic grid being associated with a probability density function indicating a respective probability that the mobile device is located at a plurality of bin locations in the grid; and

providing a record of the geographic grid and the probability density function to the mobile device for determining the location of the mobile device.

13. The system of claim 12, wherein determining the geographic grid comprises filtering the harvested data by the time of movement, including selecting, from the harvested data, locations having timestamps after the time of movement for determining the geographic grid.

14. The system of claim 9, the operations comprising, upon designating the wireless access gateway as a moving wireless access gateway:

determining a first time of movement of the wireless access gateway and a second time of movement of the wireless access gateway;

determining a difference between the first time of movement and the second time of movement; and

upon determining that the difference between the first time of movement and the second time of movement is less than an exclusion threshold, designating the wireless access gateway as a low value wireless access gateway and excluding the wireless access gateway from future location estimation.

15. The system of claim 9, wherein:

each location is further represented using a respective altitude coordinate, and

the function further weights a third difference between altitude coordinates between two locations in the harvested data.

16. The system of claim 15, wherein the function squares each of the first difference, second difference, and third difference before weighting.

17. A non-transitory computer-readable medium storing instructions that, when executed by one or more computers, cause the one or more computers to perform operations comprising:

receiving, from a plurality of mobile devices, harvested data about a wireless access gateway, the harvested data including respective locations of the mobile devices recorded by the mobile devices when the respective mobile devices were in communication range of the wireless access gateway, each location being represented using respective latitude and longitude coordinates;

determining a value of a function, the function weighting a first difference between latitude coordinates of two locations in the harvested data and a second difference between longitude coordinates of two locations in the harvested data; and

in response to determining that the value exceeds a distance threshold, designating, in determining a location of a mobile device using locations of one or more wireless access gateways, the wireless access gateway as a moving wireless access gateway.

18. The non-transitory computer-readable medium of claim 17, wherein the wireless access gateway is a wireless access point, a cellular tower, or a Bluetooth™

device.

19. The non-transitory computer-readable medium of claim 17, wherein:

the first difference between the latitude coordinates is given a first weight in the function,

the second difference between longitude coordinates is given a second weight in the function, and

higher latitudes corresponds to higher first weight over the second weight.

20. The non-transitory computer-readable medium of claim 17, the operations comprising, upon designating the wireless access gateway as a moving wireless access gateway:

determining a time of movement of the wireless access gateway;

determining a geographic grid representing a location of the wireless access gateway at a time after the time of movement, the geographic grid being associated with a probability density function indicating a respective probability that the mobile device is located at a plurality of bin locations in the grid; and

providing a record of the geographic grid and the probability density function to the mobile device for determining the location of the mobile device.