Method and apparatus for using map information aided enhanced portable navigation

• US 9,797,732 B2
• Filed: 09/04/2015
• Issued: 10/24/2017
• Est. Priority Date: 09/08/2014
• Status: Active Grant

• Current Assignee: Invensense Incorporated (TDK Corporation)
• Original Assignee: Invensense Incorporated (TDK Corporation)
• Inventors: Li, Tao, Georgy, Jacques, Wang, Da
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US14/845,903
• Publication Number:
  US 20160069690A1
• Time in Patent Office: 781 Days
• Field of Search: 701411, 701412
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 5/017 Detecting state or type of motion

Abstract

This disclosure is directed to enhancing the navigation solution of a portable device using map information. Sensor data for the portable device may be used to derive a navigation solution. Position information for the device may be estimated using the navigation solution. Map information for an area encompassing a current location of the user may also be obtained. Multiple hypotheses regarding possible positions of the portable device may be generated using the estimated position information and the map information. By managing and processing the hypotheses, updated estimated position information may be provided. The updated estimated position information may be provided as output or feedback to enhance the navigation solution.

Claims

1. A method for enhancing a navigation solution of a portable device and a platform using map information, wherein the mobility of the device is constrained or unconstrained within the platform and wherein the device may be tilted to any orientation, the method comprising:

a) obtaining sensor data for the portable device;

b) deriving a navigation solution based at least in part on the sensor data;

c) providing estimated position information for the portable device based at least in part on the navigation solution;

d) obtaining map information for an area encompassing a current location of the user;

e) generating multiple hypotheses regarding possible positions of the portable device based at least in part on the estimated position information and the map information;

f) managing the hypotheses based at least in part on the estimated position information and the map information, wherein managing the hypotheses comprises adding, eliminating and combining hypotheses;

g) processing the managed hypotheses to update the estimated position information for the portable device; and

h) providing an enhanced navigation solution using the updated estimated position information.

2. The method of claim 1, wherein the updated estimated information comprises the enhanced navigation solution.

3. The method of claim 1, wherein the updated estimated information is fed to the navigation solution to derive the enhanced navigation solution.

4. The method of claim 3, wherein the deriving of the enhanced navigation solution utilizes the updated estimated position information as a measurement update to the navigation module.

5. The method of claim 1, wherein the enhanced navigation solution comprises values from the updated estimated information and the navigation solution.

6. The method of claim 1, further comprising obtaining absolute navigation information for the portable device, wherein deriving the navigation solution is further based on the absolute navigation information.

7. The method of claim 6, wherein the absolute navigation information is obtained from any one or any combination of the following:

(i) a global navigation satellite system (GNSS);

(ii) cell-based positioning;

(iii) WiFi-based positioning;

or (iv) other wireless-based positioning.

8. The method of claim 1, wherein generating multiple hypotheses regarding possible positions of the portable device is further based on updated position information from a previous epoch.

9. The method of claim 1, further comprising preprocessing the map information.

10. The method of claim 9, wherein preprocessing the map information comprises extracting map entities.

11. The method of claim 10, wherein preprocessing the map information further comprises clipping at least one foreground map entity from a background entity.

12. The method of claim 11, wherein clipping the background entity defines a traversable area.

13. The method of claim 10, wherein preprocessing the map information further comprises representing a map entity as a relatively complex polygon and decomposing the polygon into a plurality of relatively more simple polygons.

14. The method of claim 9, wherein preprocessing the map information comprises generating a grid of connected links and nodes.

15. The method of claim 1, wherein the estimated position information comprises an error region representing potential positions of the portable device.

16. The method of claim 15, wherein at least one of the hypotheses is generated by projecting the error region onto the map information.

17. The method of claim 15, wherein a plurality of hypotheses are generated by projecting the error region onto the map information when an overlap with a plurality of map entities occurs.

18. The method of claim 15, wherein the map information comprises a polygon based geometric map.

19. The method of claim 15, wherein the map information comprises a grid map.

20. The method of claim 1, wherein the map information comprises a grid map and the estimated position information is based at least in part on a correlation between a determined user trajectory and a topological feature of the grid map.

21. The method of claim 1, wherein managing the hypotheses further comprises applying a decision making logic.

22. The method of claim 21, wherein the decision making logic is configured for a wall crossing event.

23. The method of claim 21, wherein the decision making logic is configured for a level change event.

24. The method of claim 1, wherein the navigation solution comprises a motion mode for the user.

25. The method of claim 24, wherein the estimated position information is based at least in part on the motion mode.

26. The method of claim 24, wherein the hypotheses are managed based at least in part on the motion mode.

27. The method of claim 24, wherein a level change event is based at least in part on the motion mode.

28. The method of claim 1, wherein the enhanced navigation solution comprises a motion mode for the user detected based at least in part on a map entity associated with the estimated position information.

29. The method of claim 1, wherein position information for the portable device is estimated using at least one of a prediction only Kalman filter, a near constant velocity Kalman filter, a prediction only particle filter and a near constant velocity particle filter.

30. The method of claim 1, wherein at least one of obtaining map information, generating multiple hypotheses, managing the hypotheses, and processing the managed hypotheses to update the estimated position information for the portable device is performed remotely.

31. A portable device for providing an enhanced navigation solution using map information comprising:

a) a sensor assembly integrated with the portable device, configured to output data representing motion of the portable device; and

b) a processor configured to implement;

i) a navigation module for deriving a navigation solution based at least in part on the sensor data; and

ii) a map module having a position estimator for providing estimated position information for the portable device based at least in part on the navigation solution, a map handler for obtaining map information for an area encompassing a current location of the user and a hypothesis analyzer for generating and managing multiple hypotheses regarding possible positions of the portable device based at least in part on the estimated position information and the map information, wherein the map module processes the managed hypotheses to update the estimated position information for the portable device, wherein managing multiple hypotheses comprises adding, eliminating and combining hypotheses.

32. The device of claim 31, further comprising a source of absolute navigation information for the portable sensor device, wherein the absolute navigation information aids the navigation solution.

33. The device of claim 32, wherein the absolute navigation information is obtained from any one or any combination of the following:

(i) a global navigation satellite system (GNSS);

(ii) cell-based positioning;

(iii) WiFi-based positioning;

or (iv) other wireless-based positioning.

34. The device of claim 31, wherein the map module is further configured to provide an enhanced navigation solution, wherein the updated estimated information comprises the enhanced navigation solution.

35. The device of claim 31, further comprising feeding the updated estimated position information to the navigation module, wherein the navigation module is further configured to enhance the navigation solution using the updated estimated position information.

36. The device of claim 35, wherein the enhancing of the navigation solution utilizes the updated estimated position information as a measurement update to the navigation module.

37. The device of claim 31, wherein the map module is further configured to provide an enhanced navigation solution, wherein the enhanced navigation solution comprises values from the updated estimated information and the navigation solution.

38. The portable device of claim 31, wherein the sensor assembly includes an accelerometer and a gyroscope.

39. The device of claim 31, wherein the sensor assembly comprises an inertial sensor implemented as a Micro Electro Mechanical System (MEMS).

40. A system for providing an enhanced navigation solution using map information comprising:

a) a portable device with an integrated sensor assembly, configured to output data representing motion of the portable device and a processor configured to implement a navigation module for deriving a navigation solution based at least in part on the sensor data; and

b) remote processing resources configured to receive the navigation solution from the portable device and having a processor configured to implement a map module having a position estimator for providing estimated position information for the portable device based at least in part on the navigation solution, a map handler for obtaining map information for an area encompassing a current location of the user and a hypothesis analyzer for generating and managing multiple hypotheses regarding possible positions of the portable device based at least in part on the estimated position information and the map information, wherein the map module processes the managed hypotheses to update the estimated position information for the portable device wherein the remote processing resources transmit the updated estimated position information to the portable device, wherein managing multiple hypotheses comprises adding, eliminating and combining hypotheses.

41. The system of claim 40, wherein the device is further configured to provide an enhanced navigation solution, wherein the updated estimated information comprises the enhanced navigation solution.

42. The system of claim 40, further comprising feeding the updated estimated position information to the navigation module, wherein the navigation module is further configured to enhance the navigation solution using the updated estimated position information.

43. The system of claim 42, wherein the enhancing of the navigation solution utilizes the updated estimated position information as a measurement update to the navigation module.

44. The system of claim 40, wherein the device is further configured to provide an enhanced navigation solution, wherein the enhanced navigation solution comprises values from the updated estimated information and the navigation solution.