Methods and apparatus for determining locations of devices in confined spaces
First Claim
1. A mobile device, comprising:
- a processor;
a wireless transceiver;
at least one location sensor comprising a global navigation satellite system (GNSS) receiver, the wireless transceiver,an infrared transceiver, an ultrasonic transceiver or a near-field communication (NFC) receiver, orone or more pedestrian dead reckoning (PDR) sensors, or any combination thereof; and
memory comprising a floor-plan of a venue,wherein the processor is configured to;
obtain multiple location data sets representing respective different instants from the at least one location sensor of the mobile device;
obtain a plurality of obstacle indication values, wherein each of the plurality of obstacle indication values,for each of the multiple location data sets, is derived from the floor-plan;
determine a plurality of hypothetical locations of the mobile device in the venue based on the multiple location data sets; and
determine a current location of the mobile device based on the plurality of hypothetical locations and the plurality of obstacle indication values;
wherein the plurality of obstacle indication values for the multiple location data sets include;
respective mean-free-path (MFP) scores, determined based on the floor-plan,for the plurality of hypothetical locations, each MFP score including a respective measure of proximity of at least some of obstacles in the floor-plan to a respective hypothetical location, orcardinal axes data describing respective cardinal axes in a portion of the floor-plan corresponding to the respective ones of the multiple location data sets,the cardinal axes being approximately parallel to, or perpendicular to, at least one edge of at least one obstacle in the portion of the floor-plan.
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Accused Products
Abstract
A location device (e.g., realized at one or more of a mobile device and/or a location server) includes a wireless transceiver, one or more location sensors and a floor-plan of a venue. The location device determines a plurality of hypothetical locations of a mobile device in the venue in response to data sets provided by the one or more location sensors. The data sets are associated with obstacle indication values calculated for the venue or for regions of the venue including locations corresponding to the data sets. The obstacle indication values indicate the proximity or orientation of the obstacle edges in the region or in the venue. The location device refines the one or more hypothetical locations based on the obstacle indication values to provide an estimate of the current location of the mobile device.
35 Citations
25 Claims
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1. A mobile device, comprising:
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a processor; a wireless transceiver; at least one location sensor comprising a global navigation satellite system (GNSS) receiver, the wireless transceiver, an infrared transceiver, an ultrasonic transceiver or a near-field communication (NFC) receiver, or one or more pedestrian dead reckoning (PDR) sensors, or any combination thereof; and memory comprising a floor-plan of a venue, wherein the processor is configured to; obtain multiple location data sets representing respective different instants from the at least one location sensor of the mobile device; obtain a plurality of obstacle indication values, wherein each of the plurality of obstacle indication values, for each of the multiple location data sets, is derived from the floor-plan; determine a plurality of hypothetical locations of the mobile device in the venue based on the multiple location data sets; and determine a current location of the mobile device based on the plurality of hypothetical locations and the plurality of obstacle indication values; wherein the plurality of obstacle indication values for the multiple location data sets include; respective mean-free-path (MFP) scores, determined based on the floor-plan, for the plurality of hypothetical locations, each MFP score including a respective measure of proximity of at least some of obstacles in the floor-plan to a respective hypothetical location, or cardinal axes data describing respective cardinal axes in a portion of the floor-plan corresponding to the respective ones of the multiple location data sets, the cardinal axes being approximately parallel to, or perpendicular to, at least one edge of at least one obstacle in the portion of the floor-plan. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method, comprising:
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obtaining, by a mobile device, multiple location data sets from at least one location sensor of a mobile device corresponding to respective different instants, wherein the at least one location sensor comprises a global navigation satellite system (GNSS) receiver, a wireless transceiver, an infrared transceiver, an ultrasonic transceiver or a near-field communication (NFC) receiver, or one or more pedestrian dead reckoning (PDR) sensors, or any combination thereof; obtaining, by the mobile device, a plurality of obstacle indication values, derived from a floor-plan of a venue, for the respective multiple location data sets; determining, by the mobile device, a plurality of hypothetical locations of the mobile device in the venue based on the multiple location data sets; and determining, by the mobile device, a current location of the mobile device based on the plurality of hypothetical locations and the plurality of obstacle indication values; wherein the plurality of obstacle indication values for the multiple location data sets include; respective mean-free-path (MFP) scores, determined based on the floor-plan, for the plurality of hypothetical locations, each MFP score including a respective measure of proximity of at least some of obstacles in the floor-plan to a respective hypothetical location, or cardinal axes data describing respective cardinal axes in a portion of the floor-plan corresponding to the respective ones of the multiple location data sets, the cardinal axes being approximately parallel to, or perpendicular to, at least one edge of at least one obstacle in the portion of the floor-plan. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. An apparatus comprising:
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means for obtaining multiple location data sets representing respective different instants from at least one location sensor of a mobile device, wherein the at least one location sensor comprises a global navigation satellite system (GNSS) receiver, a wireless transceiver, an infrared transceiver, an ultrasonic transceiver or a near-field communication (NFC) receiver, or one or more pedestrian dead reckoning (PDR) sensors, or any combination thereof; means for obtaining a plurality of obstacle indication values, wherein each of the plurality of obstacle indication values, for each of the multiple location data sets, is derived from a floor-plan of a venue; means for determining a plurality of hypothetical locations of the mobile device in the venue based on the multiple location data sets; and means for determining a current location of the mobile device based on the plurality of hypothetical locations and the plurality of obstacle indication values; wherein the plurality of obstacle indication values for the multiple location data sets include; respective mean-free-path (MFP) scores, determined based on the floor-plan, for the plurality of hypothetical locations, each MFP score including a respective measure of proximity of at least some of obstacles in the floor-plan to a respective hypothetical location, or cardinal axes data describing respective cardinal axes in a portion of the floor-plan corresponding to the respective ones of the multiple location data sets, the cardinal axes being approximately parallel to, or perpendicular to, at least one edge of at least one obstacle in the portion of the floor-plan. - View Dependent Claims (20, 21, 22, 23, 24)
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25. A non-transitory computer readable media programmed with instructions, executable on a processor, to:
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obtain multiple location data sets representing respective different instants from at least one location sensor of a mobile device, wherein the at least one location sensor comprises a global navigation satellite system (GNSS) receiver, a wireless transceiver, an infrared transceiver, an ultrasonic transceiver or a near-field communication (NFC) receiver, or one or more pedestrian dead reckoning (PDR) sensors, or any combination thereof; obtain a plurality of obstacle indication values, wherein each of the plurality of obstacle indication values, for each of the multiple location data sets, is derived from a floor-plan of a venue; determine a plurality of hypothetical locations of the mobile device in the venue based on the multiple location data sets; and determine a current location of the mobile device based on the plurality of hypothetical locations and the plurality of obstacle indication values; wherein the plurality of obstacle indication values for the multiple location data sets include; respective mean-free-path (MFP) scores, determined based on the floor-plan, for the plurality of hypothetical locations, each MFP score including a respective measure of proximity of at least some of obstacles in the floor-plan to a respective hypothetical location, or cardinal axes data describing respective cardinal axes in a portion of the floor-plan corresponding to the respective ones of the multiple location data sets, the cardinal axes being approximately parallel to, or perpendicular to, at least one edge of at least one obstacle in the portion of the floor-plan.
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Specification