Navigation track correction
First Claim
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1. A method comprising:
- receiving signals, in a receiver from a transmitter, along a traveled path, wherein the traveled path is a path actually traveled by the receiver;
storing, in a memory, a first estimated track, wherein the first estimated track includes an estimate of the traveled path of the receiver,recording, in a memory, signal power levels of the received signals, wherein the signal power levels include a first measured signal power level measured at a first time and a second measured signal power level measured at a second time, wherein the first time is before the second time;
associating, in the memory, the first measured signal level power with the first time and associating the second measured signal power level with the second time;
identifying, by a processor, an extracted change between the first measured signal power level associated with the first time and the second measured signal power level associated with the second time,wherein the extracted change is caused by a propagation path between the transmitter and the receiver transitioning from an unobstructed propagation path at the first time to an obstructed propagation path at the second time as the receiver moves along the traveled path from the first time to the second time,associating, in the memory, a first location on the first estimated track with the extracted change;
storing, in the memory, a model including a model of an obstruction and a model of the transmitter;
simulating, by the processor and based on the model, modeled signals from the model of the transmitter to points along the first estimated track to generate expected signal power levels of the modeled signals;
identifying, by the processor, an expected change of the expected signal power levels, wherein the expected change is caused by a modeled propagation path transitioning from a modeled obstructed propagation path to a modeled unobstructed propagation path,storing, in the memory, an association between a second location on the first estimated track with the expected change;
identifying, by the processor, the expected change as corresponding to the extracted change;
generating a second estimated track, wherein the second estimated track is an estimate of the traveled path, based on the first location on the first estimated track associated with the extracted change and the second location of the first estimated track associated with the expected change; and
storing the second estimated track in the memory, wherein the second estimated track includes smaller positional errors than the first estimated track relative to the traveled path.
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Abstract
Methods and systems disclosed herein may include receiving signals along a traveled path over a period of time; recording signal power levels of the received signals over the period of time; receiving a first estimated track of the traveled path; identifying a feature of the received signal power levels, wherein the feature is caused by the signals having traveled different propagation paths; and generating a second estimated track based on the feature and the first estimated track.
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Citations
20 Claims
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1. A method comprising:
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receiving signals, in a receiver from a transmitter, along a traveled path, wherein the traveled path is a path actually traveled by the receiver; storing, in a memory, a first estimated track, wherein the first estimated track includes an estimate of the traveled path of the receiver, recording, in a memory, signal power levels of the received signals, wherein the signal power levels include a first measured signal power level measured at a first time and a second measured signal power level measured at a second time, wherein the first time is before the second time; associating, in the memory, the first measured signal level power with the first time and associating the second measured signal power level with the second time; identifying, by a processor, an extracted change between the first measured signal power level associated with the first time and the second measured signal power level associated with the second time, wherein the extracted change is caused by a propagation path between the transmitter and the receiver transitioning from an unobstructed propagation path at the first time to an obstructed propagation path at the second time as the receiver moves along the traveled path from the first time to the second time, associating, in the memory, a first location on the first estimated track with the extracted change; storing, in the memory, a model including a model of an obstruction and a model of the transmitter; simulating, by the processor and based on the model, modeled signals from the model of the transmitter to points along the first estimated track to generate expected signal power levels of the modeled signals; identifying, by the processor, an expected change of the expected signal power levels, wherein the expected change is caused by a modeled propagation path transitioning from a modeled obstructed propagation path to a modeled unobstructed propagation path, storing, in the memory, an association between a second location on the first estimated track with the expected change; identifying, by the processor, the expected change as corresponding to the extracted change; generating a second estimated track, wherein the second estimated track is an estimate of the traveled path, based on the first location on the first estimated track associated with the extracted change and the second location of the first estimated track associated with the expected change; and storing the second estimated track in the memory, wherein the second estimated track includes smaller positional errors than the first estimated track relative to the traveled path. - View Dependent Claims (2)
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3. A method comprising:
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receiving signals in a receiver from a transmitter, along a traveled path, wherein the traveled path is a path actually traveled by the receiver; storing, in a memory, a first estimated track, wherein the first estimated track includes an estimate of the traveled path; recording, in the memory, signal power levels of the received signals; identifying, by a processor, an extracted feature of the signal power levels, wherein the extracted feature is caused by a propagation path between the transmitter and the receiver transitioning from a first propagation path to a second propagation path as a result of the receiver having traveled from a first point on the traveled path to a second point on the traveled path, wherein the first point is different than the second point; generating, by the processor, expected signal power levels of the received signals based on the first estimated track of the traveled path; generating, by the processor, a second estimated track based on the recorded signal power levels, the expected signal power levels, and the extracted feature; and storing, in the memory, the second estimated track, wherein the second estimated track is more accurate than the first estimated track relative to the traveled path. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A device comprising:
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a receiver to receive signals along a traveled path from a transmitter, wherein the traveled path is a path actually traveled by the receiver; a memory to record signal power levels of the received signals and a first estimated track, wherein the first estimated track includes an estimate of the traveled path; a processor to; identify an extracted feature of the signal power levels, wherein the extracted feature is caused by a propagation path between the transmitter and the receiver transitioning from a first propagation path to a second propagation path as a result of the receiver having traveled from a first point on the traveled path to a second point on the traveled path, wherein the first point is different than the second point; generate expected signal power levels of the received signals based on the first estimated track of the traveled path; and generate an updated estimated track of the traveled path based on the recorded signal power levels, a first estimated track of the traveled path, the expected signal power levels, and the extracted feature, wherein the memory is configured to store the updated estimated track, wherein the updated estimated track is more accurate than the first estimated track relative to the traveled path. - View Dependent Claims (19, 20)
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Specification