Locally measured movement smoothing of position fixes based on extracted pseudoranges

• US 9,880,286 B2
• Filed: 05/02/2014
• Issued: 01/30/2018
• Est. Priority Date: 12/28/2012
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Rudow, Richard, Wold, Robert, Kasirajan, Venkateswaran, Talbot, Nicholas C., Loomis, Peter Van Wyck, Weisenburger, Shawn D., Janky, James M.
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US14/269,013
• Publication Number:
  US 20140253375A1
• Time in Patent Office: 1,369 Days
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 5/017 Detecting state or type of motion

Abstract

A Global Navigation Satellite System (GNSS) chipset embedded within the cellular device is accessed. The GNSS chipset calculates raw pseudoranges. The raw pseudoranges are extracted from the GNSS chipset for processing elsewhere in the cellular device outside of the GNSS chipset. A position fix is determined based on the raw pseudoranges. Locally measured cellular device movement information is obtained from at least one sensor that is in a known physical relationship with the cellular device. The locally measured cellular device movement information is applied to the position fix.

Claims

1. A method of improving position determination of a cellular device using locally measured movement, the method comprising:

accessing a Global Navigation Satellite System (GNSS) chipset embedded within the cellular device by one or more hardware processors located in the cellular device and outside of the GNSS chipset, wherein the GNSS chipset calculates raw pseudoranges;

extracting the raw pseudoranges from the GNSS chipset for processing by the one or more hardware processors located in the cellular device and outside of the GNSS chipset;

determining a position fix based on the raw pseudoranges using the one or more hardware processors located in the cellular device and outside of the GNSS chipset;

obtaining locally measured movement information of the cellular device using at least one sensor that is in a known physical relationship with the cellular device; and

applying the locally measured movement information of the cellular device to the position fix, using the one or more hardware processors located in the cellular device and outside of the GNSS chipset.

2. The method as recited by claim 1, wherein the applying of the locally measured cellular device movement information to the position fix further comprises:

determining whether to discard the position fix based on the locally measured cellular device movement information;

if the position fix is discarded,

interpolating a new position fix based on the locally measured cellular device movement information and two or more position fixes that precede the discarded position fix; and

replacing the discarded position fix with the new position fix,

wherein the determining, the interpolating and the replacing are performed by the one or more hardware processors.

3. The method as recited by claim 1, wherein the method further comprises:

extracting additional raw pseudoranges from the GNSS chipset for processing elsewhere in the cellular device outside of the GNSS chipset;

determining an additional position fix based on the additional raw pseudoranges;

obtaining additional locally measured cellular device movement information from the at least one sensor; and

applying the additional locally measured cellular device movement information to the additional position fix if a limiting factor is not exceeded,

wherein the extracting of the additional raw pseudoranges, the determining of the additional position fix, the obtaining from the at least one sensor, and the applying of the additional locally measured cellular device movement information are performed by the one or more hardware processors.

4. The method as recited by claim 3, wherein the additional locally measured cellular device movement information is based on an image and the applying of the additional locally measured cellular device movement information to the additional position fix if a limiting factor is not exceeded further comprises:

applying the additional locally measured cellular device movement information to the additional position fix if the additional locally measured cellular device movement information includes at least 5 features in the image.

5. The method as recited by claim 3, wherein the at least one sensor is an accelerometer and the applying of the additional locally measured cellular device movement information to the additional position fix if a limiting factor is not exceeded further comprises:

applying the additional locally measured cellular device movement information to the additional position fix if less than 10 seconds has elapsed since the accelerometer was reset.

6. The method as recited by claim 1, wherein the locally measured cellular device movement information is a blend of two or more locally measured cellular device movement information obtained from two or more sensors that are in the known physical relationship with the cellular device and wherein the method further comprises:

blending the two or more locally measured cellular device movement information based on weighting factors.

7. The method as recited by claim 6, wherein the method further comprises:

changing the weighting factors over time based on respective quality of the two or more locally measured cellular device movement information.

8. A system for improving position determination of a cellular device using locally measured movement, the system comprising:

one or more hardware processors located in the cellular device and outside of a Global Navigation Satellite System (GNSS) chipset embedded within the cellular device;

accessing logic that accesses the Global Navigation Satellite System (GNSS) chipset embedded within the cellular device by the one or more hardware processors located in the cellular device and outside of the GNSS chipset, wherein the GNSS chipset calculates raw pseudoranges;

extracting logic that extracts the raw pseudoranges from the GNSS chipset for processing by the one or more hardware processors located in the cellular device and outside of the GNSS chipset;

position fix determining logic that determines a position fix based on the raw pseudoranges by the one or more hardware processors located in the cellular device and outside of the GNSS chipset;

locally measured movement information accessing logic that obtains locally measured movement information of the cellular device from at least one sensor that is in a known physical relationship with the cellular device; and

processing logic that applies the locally measured movement information of the cellular device to the position fix, using the one or more hardware processors located in the cellular device and outside of the GNSS chipset.

9. The system as recited by claim 8, wherein the locally measured movement information accessing logic further comprises:

obtaining the locally measured cellular device movement information from the at least one sensor that is selected from a group consisting of a sensor that is internal to the cellular device and a sensor that is physically coupled with the cellular device.

10. The system as recited by claim 8, wherein the locally measured movement information accessing logic further comprises:

obtaining the locally measured cellular device movement information from the at least one sensor that is selected from a group consisting of an accelerometer and an image capturing device.

11. The system as recited by claim 8, wherein the system further comprises:

control logic that determines whether to discard the position fix based on the locally measured cellular device movement information, wherein the control logic is executed by the one or more hardware processors; and

if the control logic determines to discard the position fix, the processing logic, based on instruction from the control logic, interpolates a new position fix based on the locally measured cellular device movement information and two or more position fixes that precede the discarded position fix and replaces the discarded position fix with the new position fix.

12. The system as recited by claim 8, wherein:

the extracting logic further extracts additional raw pseudoranges from the GNSS chipset for processing elsewhere in the cellular device outside of the GNSS chipset;

the position fix determining logic further determines an additional position fix based on the additional raw pseudoranges;

the locally measured movement information accessing logic further obtains additional locally measured cellular device movement information from the at least one sensor; and

the processing logic further applies the additional locally measured cellular device movement information to the additional position fix if a limiting factor is not exceeded.

13. The system as recited by claim 12, wherein the additional locally measured cellular device movement information is based on an image and the limiting factor is at least 5 features in the image.

14. The system as recited by claim 12, wherein the at least one sensor is an accelerometer and the limiting factor is 10 seconds has elapsed since the accelerometer was reset.

15. The system as recited by claim 8, wherein the locally measured cellular device movement information is a blend of two or more locally measured cellular device movement information obtained from two or more sensors that are in the known physical relationship with the cellular device and wherein the system further comprises logic that blends the two or more locally measured cellular device movement information based on weighting factors.

16. The system as recited by claim 15, wherein the system further comprises changing the weighting factors over time based on respective quality of the two or more locally measured cellular device movement information, wherein the changing is performed by the one or more hardware processors.

17. The system as recited by claim 8, wherein the cellular device comprises a cellular communication enabled mobile communications device.