Batch processing for improved georeferencing
First Claim
1. A method comprising:
- receiving, by a server computer, raw Global Navigation Satellite System (GNSS) data and wireless scan data obtained from client devices in communication with a wireless network, where the wireless scan data is received from one or more wireless access points of the wire network, and where the raw GNSS data is crowd-sourced, by the server computer from GNSS receivers of the client devices and includes at least one of pseudo-range measurements, delta pseudo-range measurements or Doppler shift measurements;
georeferencing, by the server computer, the one or more wireless access points using raw GNSS data and wireless scan data; and
sending, by the server computer, the georeferenced locations of the wireless access points to a client device.
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Abstract
Crowd-sourced location data from client devices is processed using enhanced filtering techniques in non-realtime by a centralized server process to improve the accuracy and reliability of georeferenced geodata. At a server computer, enhanced filtering techniques make use of future information to improve georeferencing of the geodata. In some implementations, the server computer can be configured to implement batch processing of raw GNSS data and other crowd-sourced location data (e.g., wireless scan data, inertial sensor data) using, for example, a smoothing filter or batch estimator. Augmentation data (e.g., satellite ephemeris data, clock offset and ionospheric delay) and sensor data independent of client devices can also be used by the server computer to augment the crowd-sourced location data to further improve georeferencing of geodata.
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Citations
20 Claims
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1. A method comprising:
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receiving, by a server computer, raw Global Navigation Satellite System (GNSS) data and wireless scan data obtained from client devices in communication with a wireless network, where the wireless scan data is received from one or more wireless access points of the wire network, and where the raw GNSS data is crowd-sourced, by the server computer from GNSS receivers of the client devices and includes at least one of pseudo-range measurements, delta pseudo-range measurements or Doppler shift measurements; georeferencing, by the server computer, the one or more wireless access points using raw GNSS data and wireless scan data; and sending, by the server computer, the georeferenced locations of the wireless access points to a client device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method comprising:
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sending, by a client device, a request to a server computer for estimated locations of wireless access points detected in a wireless scan by the client device; receiving estimated locations of the wireless access points from the server computer, where the estimated locations are derived from at least one of pseudo-range measurements, delta pseudo-range measurements or Doppler shift measurements crowd-sourced, by the server computer from a plurality of Global Navigation Satellite System (GNSS) receivers; and calculating an estimated location of the client device using the estimated locations of the wireless access points, where the method is performed by one or more hardware processors.
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11. A system comprising:
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one or more processors; memory coupled to the one or more processors and configured for storing instructions, which, when executed by the one or more processors, causes the one or more processors to perform operations comprising; receiving raw Global Navigation Satellite System (GNSS) data and wireless scan data obtained from client devices in communication with a wireless network, where the wireless scan data is received from one or more wireless access points of the wireless network, and where the raw GNSS data is crowd-sourced, by the server computer from GNSS receivers of the client devices and includes at least one of pseudo-range measurements, delta pseudo-range measurements or Doppler shift measurements; georeferencing the one or more wireless access points using the raw GNSS data and wireless scan data; and sending, by the server computer, the georeferenced locations of the wireless access points to a client device. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. An apparatus comprising:
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one or more processors; and memory coupled to the one or more processors and configured for storing instructions, which, when executed by the one or more processors, causes the one or more processors to perform operations comprising; sending a request to a server computer for estimated locations of wireless access points detected in a wireless scan by the apparatus; receiving estimated locations of the wireless access points from the server computer, where the estimated locations are derived from at least one of pseudo-range measurements, delta pseudo-range measurements or Doppler shift measurements crowd-sourced, by the server computer from a plurality of Global Navigation Satellite System (GNSS) receivers; and calculating an estimated location of the apparatus using the estimated locations of the wireless access points.
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Specification