Multi-tiered distance travelled estimator

• US 9,921,291 B2
• Filed: 04/07/2016
• Issued: 03/20/2018
• Est. Priority Date: 04/07/2016
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Koenig, Michael Stephen
• Primary Examiner(s): PHAN, DAO LINDA
• Application Number:
  US15/093,632
• Publication Number:
  US 20170293013A1
• Time in Patent Office: 712 Days
• Field of Search: 3423572, 34235721, 342451, 342457, 342458, 701468, 701469
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G01S 5/0252 Radio frequency fingerprinting
• CPC Class Codes: G01S 5/0263 by combining or switching between positions derived from two or more separate positioning systems
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

Abstract

Techniques are provided which may be implemented using various methods and/or apparatuses in a mobile device to perform a distance travelled estimate with a mobile device. The distance travelled estimate is performed by determining a quality of displacement between a base position and each new position for the mobile device, which is determined based on the displacement between the positions and their associated uncertainties. If the quality of displacement is sufficient, the distance travelled estimate is updated using the displacement between the positions. Multiple tiers may be used, where, for example, if the quality of displacement is sufficiently high, the displacement associated with a preceding position may be excised from the distance travelled estimate and replaced with the displacement associated with the new position. Additionally, if the quality of displacement is even greater, the new position may be set as the base position.

Claims

1. A method of performing a distance travelled estimate with a mobile device, the method comprising:

obtaining a base position for the mobile device, the base position having an associated base uncertainty;

obtaining a first set of signals for position determination with the mobile device;

determining a first position of the mobile device with the first set of signals, the first position having an associated first uncertainty;

determining a first quality of displacement between the base position and the first position based on a displacement between the base position and the first position and the associated base uncertainty and the associated first uncertainty; and

updating the distance travelled estimate based on the displacement between the base position and the first position in response to the first quality of displacement being greater than a threshold.

2. The method of claim 1, wherein the first quality of displacement between the base position and the first position is based on the displacement between the base position and the first position relative to an aggregate of the associated base uncertainty and the associated first uncertainty.

3. The method of claim 1, further comprising:

setting the first position of the mobile device to be the base position of the mobile device in response to the first quality of displacement being greater than the threshold.

4. The method of claim 1, further comprising:

obtaining a second set of signals for position determination with the mobile device;

determining a second position of the mobile device with the second set of signals, the second position having an associated second uncertainty;

determining a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty; and

excising the displacement between the base position and the first position from the distance travelled estimate and updating the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than the threshold.

5. The method of claim 1, further comprising:

obtaining a second set of signals for position determination with the mobile device;

determining a second position of the mobile device with the second set of signals, the second position having an associated second uncertainty;

determining a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty;

excising the displacement between the base position and the first position from the distance travelled estimate and updating the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than a second threshold that is greater than the threshold; and

setting the second position of the mobile device to be the base position of the mobile device in response to the second quality of displacement being greater than the second threshold.

6. The method of claim 1, further comprising:

obtaining a second set of signals for position determination with the mobile device;

determining a second position of the mobile device with the second set of signals, the second position having an associated second uncertainty;

determining a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty;

determining a first displacement vector between the base position and the first position and a second displacement vector between the first position and the second position;

determining an angle between the first displacement vector and the second displacement vector;

comparing the angle between the first displacement vector and the second displacement vector to a deviation threshold;

excising the displacement between the base position and the first position from the distance travelled estimate and updating the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than a second threshold that is greater than the threshold and the angle being less than the deviation threshold; and

updating the distance travelled estimate based on the displacement between the first position and the second position without excising the displacement between the base position and the first position from the distance travelled estimate in response to the second quality of displacement being greater than the second threshold that is greater than the threshold and the angle being greater than the deviation threshold.

7. The method of claim 1, further comprising:

repeatedly determining positions of the mobile device using received signals, wherein each new position has an associated uncertainty;

for each new position, determining a quality of displacement between the base position and the new position based on a displacement between the base position and the new position and the associated base uncertainty and the associated uncertainty for the new position;

for each new position, excising a displacement between the base position and a preceding position from the distance travelled estimate and updating the distance travelled estimate based on the displacement between the base position and the new position in response to the quality of displacement for the new position being greater than the threshold or a second threshold that is less than the threshold; and

for each new position, setting the new position to be the base position of the mobile device in response to the quality of displacement for the new position being greater than the threshold.

8. The method of claim 1, wherein obtaining the base position for the mobile device comprises:

obtaining an initial set of signals for position determination with the mobile device; and

determining the base position for the mobile device with the initial set of signals.

9. The method of claim 1, further comprising:

periodically determining positions of the mobile device using received signals; and

for each new position, excising a displacement between the first position and a preceding position if included in the distance travelled estimate, and updating the distance travelled estimate based on the displacement between the new position and the first position.

10. The method of claim 1, wherein the first set of signals for position determination are obtained by the mobile device in a reduced power mode that yields less accurate position determination relative to a full power mode.

11. The method of claim 1, wherein the first set of signals for position determination are obtained from Satellite Positioning System satellites or terrestrial transmitters, or a combination thereof.

12. A mobile device configured to perform a distance travelled estimate, the mobile device comprising:

a receiver configured to receive signals for position determination; and

one or more processing units configured to;

obtain a base position, the base position having an associated base uncertainty;

obtain a first set of signals for position determination from the receiver;

determine a first position with the first set of signals, the first position having an associated first uncertainty;

determine a first quality of displacement between the base position and the first position based on a displacement between the base position and the first position and the associated base uncertainty and the associated first uncertainty; and

update the distance travelled estimate based on the displacement between the base position and the first position in response to the first quality of displacement being greater than a threshold.

13. The mobile device of claim 12, wherein the first quality of displacement between the base position and the first position is based on the displacement between the base position and the first position relative to an aggregate of the associated base uncertainty and the associated first uncertainty.

14. The mobile device of claim 12, wherein the one or more processing units is further configured to:

set the first position to be the base position in response to the first quality of displacement being greater than the threshold.

15. The mobile device of claim 12, wherein the one or more processing units is further configured to:

obtain a second set of signals for position determination from the receiver;

determine a second position with the second set of signals, the second position having an associated second uncertainty;

determine a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty; and

excise the displacement between the base position and the first position from the distance travelled estimate and update the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than the threshold.

16. The mobile device of claim 12, wherein the one or more processing units is further configured to:

obtain a second set of signals for position determination from the receiver;

determine a second position with the second set of signals, the second position having an associated second uncertainty;

determine a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty;

excise the displacement between the base position and the first position from the distance travelled estimate and update the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than a second threshold that is greater than the threshold; and

set the second position to be the base position in response to the second quality of displacement being greater than the second threshold.

17. The mobile device of claim 12, wherein the one or more processing units is further configured to:

obtain a second set of signals for position determination from the receiver;

determine a second position with the second set of signals, the second position having an associated second uncertainty;

determine a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty;

determine a first displacement vector between the base position and the first position and a second displacement vector between the first position and the second position;

determine an angle between the first displacement vector and the second displacement vector;

compare the angle between the first displacement vector and the second displacement vector to a deviation threshold;

excise the displacement between the base position and the first position from the distance travelled estimate and updating the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than a second threshold that is greater than the threshold and the angle being less than the deviation threshold; and

update the distance travelled estimate based on the displacement between the first position and the second position without excising the displacement between the base position and the first position from the distance travelled estimate in response to the second quality of displacement being greater than the second threshold that is greater than the threshold and the angle being greater than the deviation threshold.

18. The mobile device of claim 12, wherein the one or more processing units is further configured to:

repeatedly determine positions, wherein each new position has an associated uncertainty;

for each new position, determine a quality of displacement between the base position and the new position based on a displacement between the base position and the new position and the associated base uncertainty and the associated uncertainty for the new position; and

for each new position, excise a displacement between the base position and a preceding position from the distance travelled estimate and update the distance travelled estimate based on the displacement between the base position and the new position in response to the quality of displacement for the new position being greater than the threshold; and

for each new position, set the position to be the base position in response to the quality of displacement for the new position being greater than the threshold.

19. The mobile device of claim 12, wherein the one or more processing units is configured to obtain the base position by being configured to:

obtain an initial set of signals for position determination from the receiver;

determine the base position for the mobile device with the initial set of signals.

20. The mobile device of claim 12, wherein the one or more processing units is further configured to:

periodically determine positions of the mobile device; and

for each position, excise a displacement between the first position and a preceding position if included in the distance travelled estimate, and update the distance travelled estimate based on the displacement between the position and the first position.

21. The mobile device of claim 12, wherein the first set of signals for position determination are received by the receiver in a reduced power mode that yields less accurate position determination relative to a full power mode.

22. The mobile device of claim 12, wherein the receiver is a Satellite Positioning System receiver.

23. A mobile device configured to perform a distance travelled estimate, the mobile device comprising:

means for obtaining a base position for the mobile device, the base position having an associated base uncertainty;

means for obtaining a first set of signals for position determination with the mobile device;

means for determining a first position of the mobile device with the first set of signals, the first position having an associated first uncertainty;

means for determining a first quality of displacement between the base position and the first position based on a displacement between the base position and the first position and the associated base uncertainty and the associated first uncertainty; and

means for updating the distance travelled estimate based on the displacement between the base position and the first position in response to the first quality of displacement being greater than a threshold.

24. The mobile device of claim 23, wherein the first quality of displacement between the base position and the first position is based on the displacement between the base position and the first position relative to an aggregate of the associated base uncertainty and the associated first uncertainty.

25. The mobile device of claim 23, further comprising:

means for setting the first position of the mobile device to be the base position of the mobile device in response to the first quality of displacement being greater than the threshold.

26. The mobile device of claim 23, further comprising:

means for obtaining a second set of signals for position determination with the mobile device;

means for determining a second position of the mobile device with the second set of signals, the second position having an associated second uncertainty;

means for determining a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty; and

means for excising the displacement between the base position and the first position from the distance travelled estimate and updating the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than a second threshold that is greater than the threshold and setting the second position of the mobile device to be the base position of the mobile device in response to the second quality of displacement being greater than the second threshold.

27. The mobile device of claim 23, further comprising:

means for obtaining a second set of signals for position determination with the mobile device;

means for determining a second position of the mobile device with the second set of signals, the second position having an associated second uncertainty;

means for determining a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty;

means for determining a first displacement vector between the base position and the first position and a second displacement vector between the first position and the second position;

means for determining an angle between the first displacement vector and the second displacement vector;

means for comparing the angle between the first displacement vector and the second displacement vector to a deviation threshold;

means for excising the displacement between the base position and the first position from the distance travelled estimate and updating the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than a second threshold that is greater than the threshold and the angle being less than the deviation threshold; and

means for updating the distance travelled estimate based on the displacement between the first position and the second position without excising the displacement between the base position and the first position from the distance travelled estimate in response to the second quality of displacement being greater than the second threshold that is greater than the threshold and the angle being greater than the deviation threshold.

28. The mobile device of claim 23, further comprising:

means for periodically determining positions of the mobile device using received signals; and

means for excising a displacement between the first position and a preceding position for each new position, if the displacement between the first position and the preceding position is included in the distance travelled estimate, and updating the distance travelled estimate based on the displacement between the new position and the first position.

29. A non-transitory computer readable medium having stored therein computer executable instructions executable by one or more processing units of a mobile device to:

obtain a base position for the mobile device, the base position having an associated base uncertainty;

obtain a first set of signals for position determination;

determine a first position for the mobile device with the first set of signals, the first position having an associated first uncertainty;

determine a first quality of displacement between the base position and the first position based on a displacement between the base position and the first position and the associated base uncertainty and the associated first uncertainty; and

update a distance travelled estimate for the mobile device based on the displacement between the base position and the first position in response to the first quality of displacement being greater than a threshold.

30. The non-transitory computer readable medium of claim 29, wherein the first quality of displacement between the base position and the first position is based on the displacement between the base position and the first position relative to an aggregate of the associated base uncertainty and the associated first uncertainty.

31. The non-transitory computer readable medium of claim 29, further comprising computer executable instructions to:

set the first position for the mobile device to be the base position of the mobile device in response to the first quality of displacement being greater than the threshold.

32. The non-transitory computer readable medium of claim 29, further comprising computer executable instructions to:

obtain a second set of signals for position determination;

determine a second position for the mobile device with the second set of signals, the second position having an associated second uncertainty;

determine a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty; and

excise the displacement between the base position and the first position from the distance travelled estimate and update the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than a second threshold that is greater than the threshold and set the second position for the mobile device to be the base position of the mobile device in response to the second quality of displacement being greater than the second threshold.

33. The non-transitory computer readable medium of claim 29, further comprising computer executable instructions to:

obtain a second set of signals for position determination;

determine a second position for the mobile device with the second set of signals, the second position having an associated second uncertainty;

determine a second quality of displacement between the base position and the second position based on a displacement between the base position and the second position and the associated base uncertainty and the associated second uncertainty;

determine a first displacement vector between the base position and the first position and a second displacement vector between the first position and the second position;

determine an angle between the first displacement vector and the second displacement vector;

compare the angle between the first displacement vector and the second displacement vector to a deviation threshold;

excise the displacement between the base position and the first position from the distance travelled estimate and updating the distance travelled estimate based on the displacement between the base position and the second position in response to the second quality of displacement being greater than a second threshold that is greater than the threshold and the angle being less than the deviation threshold; and

update the distance travelled estimate based on the displacement between the first position and the second position without excising the displacement between the base position and the first position from the distance travelled estimate in response to the second quality of displacement being greater than the second threshold that is greater than the threshold and the angle being greater than the deviation threshold.

34. The non-transitory computer readable medium of claim 29, further comprising computer executable instructions to:

periodically determine positions of the mobile device using received signals; and

excise a displacement between the first position and a preceding position for each new position if the displacement between the first position and the preceding position is included in the distance travelled estimate, and update the distance travelled estimate based on the displacement between the new position and the first position.