Accounting for atmospheric and terrestrial obstacles in geographic positioning

• US 9,885,789 B2
• Filed: 03/14/2013
• Issued: 02/06/2018
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google LLC (Alphabet Inc.)
• Inventors: Pighin, Fred P., Filip, Daniel J., Ettinger, Scott, Klingner, Bryan, Martin, David
• Primary Examiner(s): Nguyen, Chuong P
• Application Number:
  US13/826,699
• Publication Number:
  US 20140266873A1
• Time in Patent Office: 1,790 Days
• Field of Search: 34235723, 34235725, 34235742, 34235744, 701469
• CPC Class Codes: G01S 19/05 providing aiding data
• CPC Class Codes: G01S 19/073 involving a network of fixed stations
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/42 Determining position

Abstract

A position fix identifying a geographic location of a receiver is received. The position fix was generated using signals received at the receiver from respective high-altitude signal sources (such as satellites). Imagery of a geographic area that includes the geographic location is also received. The imagery is automatically processed to determine whether one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated. In response to determining that one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated, the position fix is identified as being potentially erroneous.

Claims

1. A method implemented in a computing system on one or more processors for identifying potentially erroneous position fixes of a receiver, the method comprising:

receiving a position fix for the receiver, wherein the position fix was generated using a plurality of signals received at the receiver from respective high-altitude signal sources, and wherein the position fix identifies a geographic location;

requesting obstacle specified imagery of a geographic area associated with the geographic location;

receiving the obstacle specified imagery of the geographic area , wherein transitory imagery is received exclusively when transitory imagery is the obstacle specified imagery requested and persistent imagery, which is different from the transitory imagery, is received exclusively when persistent imagery is the obstacle specified imagery requested;

automatically processing the received obstacle specified imagery to determine whether one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated; and

in response to determining that one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated, identifying the position fix as potentially erroneous.

2. The method of claim 1, further comprising:

determining a position of each of the high-altitude signal sources in a three-dimensional (3D) space, wherein the position fix specifies the geographic location as a point in a three-dimensional space; and

wherein automatically processing the received obstacle specified imagery includes identifying obstacles between the point and each of the high-altitude signal sources in the 3D space.

3. The method of claim 2, wherein identifying the obstacles includes analyzing contours of building facades.

4. The method of claim 1, wherein receiving the obstacle specified imagery of the geographic area includes receiving a satellite image of the geographic area.

5. The method of claim 4, wherein automatically processing the received obstacle specified imagery includes analyzing at least one of (i) color and (ii) two-dimensional (2D) geometry to identify obstacles positioned directly above the geographic location.

6. The method of claim 5, wherein analyzing color includes identifying one or more of (i) overpasses and (ii) tree canopies.

7. The method of claim 1, wherein the received obstacle specified imagery was captured approximately at a time when the position fix was generated.

8. The method of claim 1, wherein automatically processing the received obstacle specified imagery includes automatically processing the received obstacle specified imagery in substantially in real time, the method further comprising:

in response to determining that one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated, providing a notification to the receiver that the position fix is potentially erroneous.

9. The method of claim 1, wherein:

the high-altitude signal sources are satellites orbiting Earth above the atmosphere, and

the position fix is calculated using measurements of how long signals travelling from the satellites take to reach the receiver.

10. The method of claim 1, wherein transitory imagery includes time-dependent imagery that changes over time having a timestamp provided with the imagery and persistent imagery includes time-independent imagery that does not change over time and captured from an altitude higher than an altitude of the transitory imagery.

11. A computing system comprising:

one or more processors; and

a computer-readable medium communicatively coupled to the one or more processors and storing a plurality of instructions that, when executed by the one or more processors, cause the computing system to;

receive a position fix for the receiver, wherein the position fix was generated using a plurality of signals received at a receiver from respective high-altitude signal sources, and wherein the position fix identifies a geographic location;

request obstacle specified imagery of a geographic area associated with the geographic location;

receive the obstacle specified imagery of the geographic area associated with the geographic location,

wherein transitory imagery is received exclusively when transitory imagery is the obstacle specified imagery requested and persistent imagery, which is different from the transitory imagery, is received exclusively when persistent imagery is the obstacle specified imagery requested;

automatically process the received obstacle specified imagery to determine whether one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated; and

in response to determining that one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated, identify the position fix as potentially erroneous.

12. The computing system of claim 11, wherein the computing system is further configured to:

determine a position of each of the high-altitude signal sources in a three-dimensional (3D) space, wherein the position fix specifies the geographic location as a point in a three-dimensional space; and

identify obstacles between the point and each of the high-altitude signal sources in the 3D space during automatic processing of the received obstacle specified imagery.

13. The computing system of claim 12, wherein the computing system is configured to identify the obstacles by analyzing contours of building facades.

14. The computing system of claim 11, wherein receiving the obstacle specified imagery of the geographic area includes receiving a satellite image of the geographic area.

15. The computing system of claim 14, wherein the computing system is configured to automatically process the received obstacle specified imagery by analyzing at least one of (i) color and (ii) two-dimensional (2D) geometry to identify obstacles positioned directly above the geographic location.

16. The computing system of claim 15, wherein analyzing the color includes identifying one or more of (i) overpasses and (ii) tree canopies.

17. The computing system of claim 11, wherein the received obstacle specified imagery was captured approximately at a time when the position fix was generated.

18. The computing system of claim 11, wherein the computing system is configured to automatically process the received obstacle specified imagery by automatically processing the received obstacle specified imagery in substantially in real time;

wherein the computing system is further configured to, in response to determining that one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated, provide a notification to the receiver that the position fix is potentially erroneous.

19. The computing system of claim 11, wherein:

the high-altitude signal sources are satellites orbiting Earth above the atmosphere, and

the position fix is calculated using measurements of how long signals travelling from the satellites take to reach the receiver.