Positioning and mapping based on virtual landmarks
First Claim
1. A method for determining a location of a mobile device, comprising, with the mobile device:
- receiving one or more wireless signals from at least one signal source in a space virtually divided into a plurality of regions;
determining that a device has changed position within the space;
estimating the position of the device within the space, said estimating comprising;
determining a new pose for each particle by updating an internal measurement unit (IMU) of said mobile device to account for error; and
updating observed virtual landmark estimates based on signal measurement at a new pose in relevance to one particular landmark;
updating a map of the space, said updating comprising;
generating a provisional map based on the observation of said virtual landmark;
wherein in response to determining that said virtual landmark has been previously visited, updating existing database entries for said virtual landmark with recently observed values; and
wherein in response to determining that said virtual landmark has not been previously visited, adding new database entries with observed values; and
navigating within the space based on the map.
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Abstract
This disclosure is directed to positioning and mapping based on virtual landmarks. A space may include a plurality of signal sources (e.g., wireless access points (APs), cellular base stations, etc.). The space may be virtually divided into a plurality of regions, wherein each region in the space may be associated with a virtual landmark. Virtual landmarks may be identified by a signature comprised of measurements of wireless signals received from the plurality of access points when at the associated region. A device position may be approximated based on signal power magnitude and variance measurements for wireless signals received at the virtual landmark. Devices may employ an algorithm such as, for example, Simultaneous Localization and Mapping (SLAM) for positioning and map creation in the space without the need for GPS signals, specialized signaling equipment, pre-navigation device training, etc. Navigation/mapping may also account for space changes, signal source position changes, etc.
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Citations
16 Claims
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1. A method for determining a location of a mobile device, comprising, with the mobile device:
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receiving one or more wireless signals from at least one signal source in a space virtually divided into a plurality of regions; determining that a device has changed position within the space; estimating the position of the device within the space, said estimating comprising; determining a new pose for each particle by updating an internal measurement unit (IMU) of said mobile device to account for error; and updating observed virtual landmark estimates based on signal measurement at a new pose in relevance to one particular landmark; updating a map of the space, said updating comprising; generating a provisional map based on the observation of said virtual landmark; wherein in response to determining that said virtual landmark has been previously visited, updating existing database entries for said virtual landmark with recently observed values; and wherein in response to determining that said virtual landmark has not been previously visited, adding new database entries with observed values; and navigating within the space based on the map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. At least one non-transitory machine-readable storage medium having stored thereon, individually or in combination, instructions that when executed by one or more processors of a mobile device result in the following operations comprising, with the mobile device:
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receiving one or more wireless signals from at least one signal source in a space virtually divided into a plurality of regions; determining that a device has changed position within the space; estimating the position of the device within the space, said estimating comprising; determining a new pose for each particle by updating an internal measurement unit (IMU) of said mobile device to account for error; and updating observed virtual landmark estimates based on signal measurement at a new pose in relevance to one particular landmark; updating a map of the space, said updating comprising; generating a provisional map based on the observation of said virtual landmark; wherein in response to determining that said virtual landmark has been previously visited, updating existing database entries for said virtual landmark with recently observed values; and wherein in response to determining that said virtual landmark has not been previously visited, adding new database entries with observed values; and navigating within the space based on the map. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification