Multi-source positioning
First Claim
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.
1 Assignment
0 Petitions
Accused Products
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.
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Citations
21 Claims
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1. A method to determine location information, the method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A mobile wireless device comprising:
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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. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. An apparatus to determine location information, the apparatus comprising:
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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. - View Dependent Claims (19)
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20. A non-transitory computer readable media programmed with instructions, executable on a processor, to:
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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. - View Dependent Claims (21)
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Specification