Route smoothing

• US 9,891,059 B2
• Filed: 09/13/2012
• Issued: 02/13/2018
• Est. Priority Date: 09/13/2011
• Status: Active Grant

• Current Assignee: Tomtom Global Content B.V (TomTom NV)
• Original Assignee: Tomtom Global Content B.V (TomTom NV)
• Inventors: Kmiecik, Marcin Michal, Gliszczynski, Rafal Jan
• Primary Examiner(s): Elchanti, Hussein
• Application Number:
  US14/344,640
• Publication Number:
  US 20140350850A1
• Time in Patent Office: 1,979 Days
• Field of Search: 701400-541
• 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 21/3407 specially adapted for specific applications
• CPC Class Codes: G01C 22/006 Pedometers
• CPC Class Codes: G01S 19/19 Sporting applications
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A method is disclosed involving receiving GPS data from a personal portable training device. A smoothing operation is performed on the GPS data to generate a more accurate representation of the route travelled for display to a user (504). In the smoothing operation, a cubic spine algorithm is used to obtain an initial estimate of the route representation (500). The estimate is then subjected to a refinement using at least received user motion data recorded by the personal training device (502). In addition one or more of: data indicative of the GPS accuracy; historical route data; and digital map data, such as building footprints and bodies of water, may be used in refining the estimate.

Claims

1. A method of generating a representation of a route traveled by a user, the method comprising:

receiving position data relating to the position of the user at a plurality of times when traveling along the route;

obtaining first additional data comprising at least one of;

historical route data indicative of previous routes traveled by the user and/or other users; and

digital map data, based on the received position data;

performing a smoothing operation on the received position data to generate a more accurate representation of the route, wherein the smoothing operation comprises;

applying a spline algorithm to the received position data to obtain an estimated representation of the route in the form of a spline curve; and

refining the estimated representation of the route using the first additional data; and

providing the generated representation of the route, or data representative thereof, to a device for display to the or another user.

2. The method of claim 1, wherein the digital map data comprises at least one of building footprints and bodies of water.

3. The method of claim 1, further comprising receiving second additional data comprising at least one of:

user motion data relating to the motion of the user at a plurality of times when traveling along the route; and

data relating to the accuracy of the received position data, and wherein the refining of the estimated representation of the route uses the first and second first additional data.

4. The method of claim 3, wherein the second additional data comprises user motion data relating to the motion of the user at a plurality of times when traveling along the route, and wherein the user motion data includes at least one of speed and direction data.

5. The method of claim 3, wherein the second additional data comprises data relating to the accuracy of the received position data, and wherein the data relating to the accuracy of the received position data comprises at least one of satellite signal strength information and expected position errors.

6. The method of claim 1, wherein the refining the estimated representation of the route comprises minimizing or reducing an energy associated with the estimated representation of the route in an active contour process in respect of at least a portion of the spline curve.

7. The method of claim 6, wherein the first additional data comprises historical route data indicative of previous routes traveled by the user and/or other users, and wherein said energy is influenced by the position of a portion of an historical route relative to at least a part of the spline curve.

8. The method of claim 7, wherein the refining the estimated representation of the route comprises modifying the spline curve to preferentially correspond more closely to a shape and/or position having a higher probability of representing the actual route traveled, wherein the shape and/or position having a higher probability of representing the actual route traveled is a shape and/or position corresponding at least in part to a portion of an historical route.

9. The method of claim 6, wherein the first additional data comprises digital map data, and wherein said energy is influenced by the position of certain geographical features represented by the digital map relative to at least a part of the spline curve.

10. The method of claim 9, wherein the refining the estimated representation of the route comprises modifying the spline curve to preferentially conform:

more closely to a shape and/or position having a higher probability of representing the actual route traveled; and

/or less closely to a shape and/or position having a lower probability of representing the actual route traveled, wherein said shape and/or position is determined at least in part on the basis of geographical features represented by the digital map data.

11. The method of claim 3, wherein the refining the estimated representation of the route comprises minimizing or reducing an energy associated with the estimated representation of the route in an active contour process in respect of at least a portion of the spline curve.

12. The method of claim 11, wherein the second additional data comprises user motion data relating to the motion of the user at a plurality of times when traveling along the route, and wherein said energy is influenced by a measure of a difference between the received user motion data and corresponding data derived from the spline curve.

13. The method of claim 1, wherein the position data is received from location determining and tracking elements of a portable training device arranged to be transported, carried or worn by the user, and wherein the location determining and tracking elements comprise a global navigation satellite systems (GNSS) receiver.

14. The method of claim 1, wherein the providing the generated representation of the route, or data representative thereof, to a device for display to the or another user comprises causing the generated representation of the route to be displayed to a user on a digital map, optionally via a web page.

15. A system for generating a representation of a route traveled by a user, comprising:

a processor; and

a memory;

the processor and memory configured to;

receive position data relating to the position of the user at a plurality of times when traveling along the route;

obtain first additional data comprising at least one of;

historical route data indicative of previous routes traveled by the user and/or other users; and

digital map data, based on the received position data;

perform a smoothing operation on the received position data to generate a more accurate representation of the route, wherein the smoothing operation comprises;

applying a spline algorithm to the received position data to obtain an estimated representation of the route in the form of a spline curve; and

refining the estimated representation of the route using the first additional data; and

provide the generated representation of the route, or data representative thereof, to a device for display to the or another user.

16. A non-transitory computer readable medium comprising computer readable instructions that, when executed by one or more processors of a system, cause the system to perform a method for generating a representation of a route traveled by a user, the method comprising:

receiving position data relating to the position of the user at a plurality of times when traveling along the route;

obtaining, based on the received position data, first additional data comprising at least one of historical route data indicative of previous routes traveled by the user and/or other users and digital map data;

performing a smoothing operation on the received position data to generate a more accurate representation of the route, wherein the smoothing operation comprises;

applying a spline algorithm to the received position data to obtain an estimated representation of the route in the form of a spline curve; and

refining the estimated representation of the route using the first additional data; and

providing the generated representation of the route, or data representative thereof, to a device for display to the or another user.