Estimating an initial position and navigation state using vehicle odometry

• US 9,677,887 B2
• Filed: 11/22/2013
• Issued: 06/13/2017
• Est. Priority Date: 03/22/2013
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Morrison, William James, Riley, Wyatt Thomas, Czompo, Joseph, Werner, Benjamin A.
• Primary Examiner(s): Mawari, Redhwan K
• Assistant Examiner(s): Hutchinson, Alan D
• Application Number:
  US14/087,743
• Publication Number:
  US 20140288828A1
• Time in Patent Office: 1,299 Days
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers

Abstract

The disclosure relates to estimating an initial position and navigation state associated with a vehicle using odometry and/or other data obtained from the vehicle to support dead reckoning at start-up. In particular, a last known position and last known heading at a first odometer value associated with the vehicle may be stored and compared to a current odometer value after linking a mobile device with the vehicle. The last known position and last known heading may be used to estimate the initial position and navigation state associated with the vehicle based on a difference between the compared odometer values. For example, the estimated initial position and/or navigation state may substantially correspond to the last known position and last known heading if the difference between the odometer values indicates no change, or a non-zero difference may define a radius to limit an estimated error associated with the initial position estimate.

Claims

1. A method for estimating at least an initial position of a mobile device using vehicle odometer readings, comprising:

retrieving, by the mobile device, a last known position associated with a vehicle at a first odometer value associated with the vehicle in response to the mobile device establishing a link with the vehicle, wherein the last known position and the first odometer value associated with the vehicle are stored in association in a memory accessible to the mobile device;

reading, by the mobile device, a current odometer value from the vehicle via the established link with the vehicle;

comparing, by the mobile device, the first odometer value associated with the last known position to the current odometer value read from the vehicle; and

using, by a navigation unit incorporated into the mobile device, the last known position associated with the vehicle at the first odometer value as the initial position of the mobile device at navigation start-up for subsequent positioning by the mobile device in response to the comparing indicating that the current odometer value has not changed from the first odometer value associated with the last known position, the mobile device including a receiver or transceiver to receive signals for deriving position information from the signals for aiding the subsequent positioning by the mobile device.

2. The method recited in claim 1, wherein the initial position of the mobile device has an estimated error that substantially corresponds to an estimated error associated with the last known position at the first odometer value in response to the comparing indicating that the current odometer value has not changed from the first odometer value.

3. The method recited in claim 2, further comprising:

retrieving, from the memory, a last known heading associated with the vehicle at the first odometer value; and

using, by the navigation unit incorporated into the mobile device, the last known heading at the first odometer value as an initial heading of the mobile device for the subsequent positioning by the mobile device in response to the comparing indicating that the current odometer value has not changed from the first odometer value.

4. The method recited in claim 3, wherein one or more of a server or the mobile device includes the memory that stores the last known position and the last known heading at the first odometer value.

5. The method recited in claim 1, further comprising defining a radius around the last known position in response to the comparing indicating a non-zero difference between the first odometer value and the current odometer value, wherein the defined radius limits a distance from the last known position that can be used for the subsequent positioning by the mobile device.

6. The method recited in claim 5, further comprising estimating, by the navigation unit incorporated into the mobile device, the initial position of the mobile device based on the defined radius in combination with one or more of data obtained from one or more satellites or data stored on the vehicle in response to the first odometer value and the current odometer value having a non-zero difference.

7. The method recited in claim 6, further comprising:

scaling an estimated error associated with the initial position according to the difference between the first odometer value and the current odometer value; and

determining whether to use the initial position or calculate a different initial position based on data from the one or more satellites based on the scaled estimated error.

8. The method recited in claim 1, wherein the memory further stores the last known position and the first odometer value associated with the vehicle in association with an identifier corresponding to the vehicle.

9. The method recited in claim 1, further comprising:

retrieving, by the mobile device, one or more models associated with the vehicle from the memory accessible to the mobile device; and

using, by the navigation unit incorporated into the mobile device, the one or more models associated with the vehicle to perform dead reckoning based on the initial position.

10. The method recited in claim 9, further comprising:

using the one or more models to determine whether a current position associated with the vehicle has substantially changed from the last known position despite the current odometer value indicating no change from the first odometer value; and

calculating, by the navigation unit incorporated into the mobile device, the initial position of the mobile device based on one or more of data from one or more satellites or data stored on the vehicle in response to the one or more models indicating that the current position associated with the vehicle has substantially changed from the last known position.

11. The method recited in claim 9, wherein the one or more models include parameters relating to one or more of a last known sensor bias, an odometry scale factor, an estimated lever arm, turning rate statistics, velocity statistics, or vehicle motion statistics.

12. The method recited in claim 1, wherein the mobile device assumes a beacon role to share at least the last known position at the first odometer value over one or more communication interfaces.

13. The method recited in claim 1, wherein the mobile device comprises a first mobile device, a server includes the memory that stores the last known position at the first odometer value, and the method further comprises:

retrieving, by the mobile device, the last known position from the server; and

transferring, by the first mobile device, the last known position retrieved from the server and a last known heading associated with the vehicle at the first odometer value to a second mobile device, wherein an estimated error associated with the last known position and the last known heading is based on a difference between the first odometer value and the current odometer value.

14. The method recited in claim 1, further comprising initializing, by the navigation unit incorporated into the mobile device, a navigation route based on the last known position at the first odometer value and a last known heading associated with the vehicle at the first odometer value in response to the comparing indicating that the current odometer value has not changed from the first odometer value.

15. The method recited in claim 1, wherein one or more of a server or the mobile device includes the memory that stores the last known position and a last known heading at the first odometer value, and wherein the current odometer value associated with the vehicle comprises a cumulative odometer value stored on the vehicle.

16. An apparatus, comprising:

means for retrieving a last known position associated with a vehicle at a first odometer value associated with the vehicle from a memory accessible to the apparatus in response to the apparatus establishing a link with the vehicle, wherein the last known position and the first odometer value associated with the vehicle are stored in association in the memory;

means for reading a current odometer value from the vehicle via the established link with the vehicle;

means for comparing the first odometer value associated with the last known position to the current odometer value read from the vehicle;

means for using the last known position associated with the vehicle at the first odometer value as an initial position of the apparatus at navigation start-up for subsequent positioning by the apparatus in response to the comparing indicating that the current odometer value has not changed from the first odometer value associated with the last known position; and

means for receiving signals for deriving position information from the signals for aiding the subsequent positioning by the apparatus.

17. The apparatus recited in claim 16, wherein the initial position of the apparatus has an estimated error that substantially corresponds to an estimated error associated with the last known position at the first odometer value in response to the comparing indicating that the current odometer value has not changed from the first odometer value.

18. The apparatus recited in claim 17, further comprising:

means for retrieving, from the memory, a last known heading associated with the vehicle at the first odometer value; and

means for using the last known heading at the first odometer value as an initial heading of the apparatus for the subsequent positioning by the apparatus in response to the comparing indicating that the current odometer value has not changed from the first odometer value.

19. The apparatus recited in claim 16, further comprising means for defining a radius around the last known position in response to the comparing indicating a non-zero difference between the first odometer value and the current odometer value, wherein the defined radius limits a distance from the last known position that can be used for the subsequent positioning by the apparatus.

20. The apparatus recited in claim 19, further comprising means for estimating the initial position of the apparatus based on the defined radius in combination with one or more of data obtained from a satellite or data stored on the vehicle in response to the first odometer value and the current odometer value having a non-zero difference.

21. The apparatus recited in claim 20, further comprising:

means for scaling an estimated error associated with the initial position according to the difference between the first odometer value and the current odometer value; and

means for determining whether to use the initial position or calculate a different initial position based on data from one or more satellites based on the scaled estimated error.

22. The apparatus recited in claim 16, wherein the memory is further configured to store the last known position and the first odometer value associated with the vehicle in association with an identifier corresponding to the vehicle.

23. The apparatus recited in claim 16, further comprising:

means for retrieving, from the memory, one or more models associated with the vehicle; and

means for using the one or more models associated with the vehicle to perform dead reckoning based on the initial position.

24. The apparatus recited in claim 23, further comprising:

means for using the one or more models to determine whether a current position associated with the vehicle has substantially changed from the last known position despite the current odometer value indicating no change from the first odometer value; and

means for calculating the initial position of the apparatus based on one or more of data from one or more satellites or data stored on the vehicle in response to the one or more models indicating that the current position associated with the vehicle has substantially changed from the last known position.

25. The apparatus recited in claim 23, wherein the one or more models include parameters relating to one or more of a last known sensor bias, an odometry scale factor, an estimated lever arm, turning rate statistics, velocity statistics, or vehicle motion statistics.

26. The apparatus recited in claim 16, further comprising means for assuming a beacon role to share at least the last known position at the first odometer value over one or more communication interfaces.

27. The apparatus recited in claim 16, wherein the apparatus comprises a first mobile device and the apparatus further comprises:

means for retrieving the last known position from a server; and

means for transferring the last known position retrieved from the server and a last known heading associated with the vehicle at the first odometer value to a second mobile device, wherein an estimated error associated with the last known position and the last known heading is based on a difference between the first odometer value and the current odometer value.

28. The apparatus recited in claim 16, further comprising means for initializing a navigation route based on the last known position at the first odometer value and a last known heading associated with the vehicle at the first odometer value in response to the comparing indicating that the current odometer value has not changed from the first odometer value.

29. An apparatus, comprising:

a communication interface configured to establish a link with a vehicle;

one or more processors configured to retrieve a last known position associated with the vehicle at a first odometer value associated with the vehicle from a memory configured to store the last known position in association with the first odometer value, to read a current odometer value from the vehicle via the established link with the vehicle, and to compare the first odometer value associated with the last known position to the current odometer value read from the vehicle;

a navigation unit configured to use the last known position associated with the vehicle at the first odometer value as an initial position associated with the apparatus at navigation start-up for subsequent positioning by the apparatus in response to the comparing indicating that the current odometer value has not changed from the first odometer value associated with the last known position; and

a receiver or transceiver configured to receive signals for deriving position information from the signals for aiding the subsequent positioning by the apparatus.

30. A non-transitory computer-readable storage medium having computer-executable instructions recorded thereon, wherein executing the computer-executable instructions on a mobile device having one or more processors causes the one or more processors to:

retrieve, from a memory accessible to the mobile device, a last known position associated with a vehicle at a first odometer value associated with the vehicle in response to the mobile device establishing a link with the vehicle, wherein the last known position and the first odometer value associated with the vehicle are stored in association in the memory;

read a current odometer value from the vehicle via the established link with the vehicle;

compare the first odometer value associated with the last known position to the current odometer value read from the vehicle; and

use, by a navigation unit incorporated into the mobile device, the last known position associated with the vehicle at the first odometer value as an initial position of the mobile device at navigation start-up for subsequent positioning by the mobile device in response to the comparing indicating that the current odometer value has not changed from the first odometer value associated with the last known position, the mobile device including a receiver or transceiver to receive signals for deriving position information from the signals for aiding the subsequent positioning by the mobile device.