Multi-source positioning

• US 9,820,100 B1
• Filed: 06/17/2016
• Issued: 11/14/2017
• Est. Priority Date: 06/17/2016
• Status: Expired due to Fees

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Jarvis, Murray, Gibbs, Simon, Tarlow, Benjamin
• Primary Examiner(s): Ajayi, Joel
• Application Number:
  US15/185,343
• Time in Patent Office: 515 Days
• Field of Search: 4554561
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 22/006 Pedometers
• CPC Class Codes: G01S 5/0264 at least one of the systems being a non-radio wave positioning system
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/025 using location based information parameters
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings
• CPC Class Codes: H04W 4/38 for collecting sensor information

Abstract

Disclosed are methods, systems, devices, apparatus, computer-/processor-readable media, and other implementations, including a method that includes obtaining, at a mobile device, remote transmitter location estimates for one or more remote transmitters, obtaining, at the mobile device, a group of pedestrian dead-reckoning (PDR) measurements, obtaining, at the mobile device, a group of signal measurements for signals received from the one or more remote transmitters, and deriving at least one mobile device location estimate for the mobile device based on one or more inconsistency terms representative of inconsistency between different location solutions, for the at least one mobile device location estimate, computed using different data points from the remote transmitter location estimates for the one or more remote transmitters, the group of PDR measurements, and the group of signal measurements.

Claims

1. A method to determine location information, the method comprising:

determining, at a mobile device, a first position of the mobile device at a first time;

obtaining, at the mobile device, remote transmitter location estimates for one or more remote transmitters, the one or more remote transmitters comprising one or more terrestrial nodes;

obtaining, at the mobile device, a group of pedestrian dead-reckoning (PDR) measurements from one or more inertial sensors of the mobile device, the one or more inertial sensors including;

a gyroscope, an accelerometer, or a magnetometer, or any combination thereof;

determining, at the mobile device, a trajectory based on the PDR measurements between the first time and a second time;

obtaining, at the mobile device, a group of signal measurements for signals received from the one or more remote transmitters at the second time;

determining, at the mobile device, a second position of the mobile device based on one or more of the group of signal measurements received at the second time;

determining, at the mobile device, a constrained location estimate based on the first position and the trajectory, wherein the constrained location estimate includes an area of uncertainty;

calculating, at the mobile device, a positional difference between the second position and the constrained location estimate, wherein the position difference is a distance between the second position and a point within the area of uncertainty that is closest to the second position; and

determining a current position of the mobile device as the point within the area of uncertainty that is closest to the second position.

2. The method of claim 1, wherein obtaining the remote transmitter location estimates for the one or more remote transmitters further comprises:

obtaining, at the mobile device, uncertainties associated with the remote transmitter location estimates.

3. The method of claim 1, wherein determining the constrained location estimate includes applying a rotation operation to the trajectory to minimize the distance between the second position and the point within the area of uncertainty that is closest to the second position.

4. The method of claim 1, wherein determining the constrained location estimate includes applying a stretching operation to the trajectory to minimize the distance between the second position and the point within the area of uncertainty that is closest to the second position.

5. The method of claim 1, wherein the first position of the mobile device is based on signals received from a satellite positioning system.

6. The method of claim 1, wherein the first position of the mobile device is based on a previous PDR trajectory combined with a previous position of the mobile device.

7. The method of claim 1, further comprising:

obtaining, at the mobile device, the updated remote transmitter location estimates;

determining, at the mobile device, a second trajectory based on the PDR measurements between the second time and a third time;

obtaining, at the mobile device, a group of signal measurements for signals received from the one or more remote transmitters at the third time;

determining, at the mobile device, a third position of the mobile device based on one or more of the group of signal measurements received at the third time;

determining, at the mobile device, a second constrained location estimate based on the constrained location estimate position and the second trajectory; and

determining, at the mobile device, a second positional difference between the third position and the second constrained location estimate.

8. The method of claim 1, wherein obtaining the remote transmitter location estimates comprises:

obtaining the remote transmitter location estimates from received assistance data including;

floorplan data, street map data, global frame data, or local frame data, or any combination thereof.

9. The method of claim 1, further comprising updating, at the mobile device, the remote transmitter location estimates based on the positional difference.

10. A mobile wireless device comprising:

one or more inertial sensors configured to;

obtain a group of pedestrian dead-reckoning (PDR) measurements from one or more inertial sensors of the mobile device, the one or more inertial sensors including;

a gyroscope, an accelerometer, or a magnetometer, or any combination thereof;

a transceiver configured to;

obtain remote transmitter location estimates for one or more remote transmitters, the one or more remote transmitters comprising or one or more terrestrial nodes; and

obtain a group of signal measurements for signals received from the one or more remote transmitters; and

one or more processors, coupled to the transceiver and the one or more inertial sensors, configured to;

determine a first position of the mobile device at a first time;

determine a trajectory based on the PDR measurements between the first time and a second time;

determine a second position of the mobile device based on one or more of the group of signal measurements obtained on or about the second time;

determine a constrained location estimate based on the first position and the trajectory, wherein the constrained location estimate includes an area of uncertainty;

calculate a positional difference between the second position and the constrained location estimate, wherein the position difference is a distance between the second position and a point within the area of uncertainty that is closest to the second position; and

determine a current position of the mobile device as the point within the area of uncertainty that is closest to the second position.

11. The mobile wireless device of claim 10, wherein the one or more processors are configured to determine the constrained location estimate by applying a rotation operation to the trajectory to minimize the distance between the second position and the point within the area of uncertainty that is closest to the second position.

12. The mobile wireless device of claim 10, wherein the one or more processors are configured to determine the constrained location estimate by applying a stretching operation to the trajectory to minimize the distance between the second position and the point within the area of uncertainty that is closest to the second position.

13. The mobile wireless device of claim 10, further comprising a receiver for use with a satellite positioning system wherein the one or more processors are configured to determine the first position based on signals received from the satellite positioning system.

14. The mobile wireless device of claim 10, wherein the first position of the mobile device is based on a previous PDR trajectory combined with a previous position of the mobile device.

15. The mobile wireless device of claim 10, wherein the transceiver is configured obtain the updated remote transmitter location estimates and obtain a group of signal measurements for signal received from one or more remote transmitters at a third time, and the one or more processors are further configured to:

determine a second trajectory based on the PDR measurements between the second time and the third time;

determine a third position of the mobile device based on one or more of the group of signal measurements received at the third time;

determine a second constrained location estimate based on the constrained location estimate position and the second trajectory; and

determine a second positional difference between the third position and the second constrained location estimate.

16. The mobile wireless device of claim 10, wherein the one or more processors are further configured to update the remote transmitter location estimates based on the positional difference, and the transceiver is configured to send the updated remote transmitter location estimates to one or more remote transmitters.

17. The mobile wireless device of claim 10, wherein the transceiver configured to obtain the remote transmitter location estimates is configured to:

obtain the remote transmitter location estimates from received assistance data including;

floorplan data, street map data, global frame data, or local frame data, or any combination thereof.

18. An apparatus to determine location information, the apparatus comprising:

means for determining, at a mobile device, a first position estimate of the mobile device at a first time;

means for obtaining, at the mobile device, remote transmitter location estimates for one or more remote transmitters, the one or more remote transmitters comprising one or more terrestrial nodes;

means for obtaining, at the mobile device, a group of pedestrian dead-reckoning (PDR) measurements from one or more inertial sensors of the mobile device, the one or more inertial sensors including;

a gyroscope, an accelerometer, or a magnetometer, or any combination thereof;

means for determining, at the mobile device, a trajectory based on the PDR measurements between the first time and a second time;

means for obtaining, at the mobile device, a group of signal measurements for signals received from the one or more remote transmitters at the second time;

means for determining, at the mobile device, a second position of the mobile device based on one or more of the group of signal measurements received at the second time;

means for determining a constrained location estimate based on the first position and the trajectory, wherein the constrained location estimate includes an area of uncertainty;

means for calculating a positional difference between the second position and the constrained location estimate, wherein the position difference is a distance between the second position and a point within the area of uncertainty that is closest to the second position; and

means for determining a current position of the mobile device as the point within the area of uncertainty that is closest to the second position.

19. The apparatus of claim 18, further comprising:

means for updating the remote transmitter location estimates based on the positional difference; and

means for sending the updated remote transmitter location estimates to one or more remote transmitters.

20. A non-transitory computer readable media programmed with instructions, executable on a processor, to:

determine, at a mobile device, a first position of the mobile device at a first time;

obtain, at the mobile device, remote transmitter location estimates for one or more remote transmitters, the one or more remote transmitters comprising one or more terrestrial nodes;

obtain, at the mobile device, a group of pedestrian dead-reckoning (PDR) measurements from one or more inertial sensors of the mobile device, the one or more inertial sensors including;

a gyroscope, an accelerometer, or a magnetometer, or any combination thereof;

determine, at the mobile device, a trajectory based on the PDR measurements between the first time and a second time;

obtain, at the mobile device, a group of signal measurements for signals received from the one or more remote transmitters at the second time;

determine, at the mobile device, a second position of the mobile device based on one or more of the group of signal measurements received at the second time;

determine, at the mobile device, a constrained location estimate based on the first position and the trajectory, wherein the constrained location estimate includes an area of uncertainty;

calculate, at the mobile device, a positional difference between the second position and the constrained location estimate, wherein the position difference is a distance between the second position and a point within the area of uncertainty that is closest to the second position; and

determine a current position of the mobile device as the point within the area of uncertainty that is closest to the second position.

21. The computer readable media of claim 20, further comprising instructions, executable on a processor to:

update, at the mobile device, the remote transmitter location estimates based on the positional difference; and

send the updated remote transmitter location estimates to one or more remote transmitters.