Determination of a statistical attribute of a set of measurement errors

• US 9,939,514 B2
• Filed: 06/30/2015
• Issued: 04/10/2018
• Est. Priority Date: 06/30/2015
• Status: Active Grant

• Current Assignee: HERE Global B.V. (Nokia Corporation)
• Original Assignee: HERE Global B.V. (Nokia Corporation)
• Inventors: Adachi, Jeffrey, Lewis, Andrew
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US14/788,753
• Publication Number:
  US 20170003396A1
• Time in Patent Office: 1,015 Days
• Field of Search: 701446
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 5/009 Transmission of differential positioning data to mobile

Abstract

A method comprising receiving probe data indicative of a set of navigational signal measurements that is matched to a link segment, determining a set of measurement errors such that each measurement error of the set of measurement errors is a difference between a location indicated by the link segment and a location indicated by a navigational signal measurement of the set of navigational signal measurements, determining at least one statistical attribute of the set of measurement errors, and storing an indication of the statistical attribute in map information associated with the link segment is disclosed.

Claims

1. An apparatus, comprising:

at least one processor; and

at least one memory including computer program code, the memory and the computer program code configured to, working with the processor, cause the apparatus to perform at least the following;

receive probe data indicative of a set of navigational signal measurements that is matched to a link segment;

determine a set of measurement errors such that each measurement error of the set of measurement errors is a difference between a location indicated by the link segment and a location indicated by a navigational signal measurement of the set of navigational signal measurements;

determine at least one statistical attribute of the set of measurement errors;

store an indication of the statistical attribute in map information associated with the link segment; and

use the statistical attribute associated with the link segment as an input to compensate for errors in the navigational signal measurements to facilitate at least one of autonomous vehicle navigation or route guidance.

2. The apparatus of claim 1, wherein the statistical attribute is a variance of the set of measurement errors.

3. The apparatus of claim 1, wherein the determination of the statistical attribute comprises determination of an adjusted statistical attribute of the set of measurement errors based, at least in part, on an average lane width and a number of lanes comprised by the link segment, and the statistical attribute is the adjusted statistical attribute.

4. The apparatus of claim 1, wherein the memory includes computer program code configured to, working with the processor, cause the apparatus to perform identification of the location indicated by the link segment to be a location along the link segment from which the location indicated by the navigational signal measurement is perpendicular.

5. The apparatus of claim 1, wherein the memory includes computer program code configured to, working with the processor, cause the apparatus to perform identification of the location indicated by the link segment to be a location along the link segment that is nearest to the location indicated by the navigational signal measurement.

6. The apparatus of claim 1, wherein the difference between the link segment location and the location indicated by the navigational signal measurement is based, at least in part, on a perpendicular distance from the link segment to the location indicated by the navigational signal measurement.

7. The apparatus of claim 5, wherein the difference between the link segment location and the location indicated by the navigational signal measurement is the perpendicular distance from the link segment to the location indicated by the navigational signal measurement.

8. The apparatus of claim 1, wherein the memory includes computer program code configured to, working with the processor, cause the apparatus to perform sending of the indication of the statistical attribute to a separate apparatus.

9. The apparatus of claim 1, wherein the memory includes computer program code configured to, working with the processor, cause the apparatus to perform determination of a navigational signal measurement weight that is based, at least in part, on the statistical attribute, wherein the indication of the statistical attribute is indicative of the navigational signal measurement weight.

10. A method comprising:

receiving probe data indicative of a set of navigational signal measurements that is matched to a link segment;

determining a set of measurement errors such that each measurement error of the set of measurement errors is a difference between a location indicated by the link segment and a location indicated by a navigational signal measurement of the set of navigational signal measurements;

determining at least one statistical attribute of the set of measurement errors;

storing an indication of the statistical attribute in map information associated with the link segment; and

using the statistical attribute associated with the link segment as an input to compensate for errors in the navigational signal measurements to facilitate at least one of autonomous vehicle navigation or route guidance.

11. The method of claim 10, further comprising identifying the location indicated by the link segment to be a location along the link segment from which the location indicated by the navigational signal measurement is perpendicular.

12. The method of claim 10, further comprising identifying the location indicated by the link segment to be a location along the link segment that is nearest to the location indicated by the navigational signal measurement.

13. The method of claim 12, wherein the difference between the link segment location and the location indicated by the navigational signal measurement is the perpendicular distance from the link segment to the location indicated by the navigational signal measurement.

14. The method of claim 10, further comprising sending the indication of the statistical attribute to a separate apparatus.

15. The method of claim 10, wherein the determination of the statistical attribute comprises determining an adjusted statistical attribute of the set of measurement errors based, at least in part, on an average lane width and a number of lanes comprised by the link segment, and the statistical attribute is the adjusted statistical attribute.

16. The method of claim 10, further comprising determining a navigational signal measurement weight that is based, at least in part, on the statistical attribute, wherein the indication of the statistical attribute is indicative of the navigational signal measurement weight.

17. At least one non-transitory computer-readable medium encoded with instructions that, when executed by a processor, perform:

receipt of probe data indicative of a set of navigational signal measurements that is matched to a link segment;

determination of set of measurement errors such that each measurement error of the set of measurement errors is a difference between a location indicated by the link segment and a location indicated by a navigational signal measurement of the set of navigational signal measurements;

determination of at least one statistical attribute of the set of measurement errors;

storage of an indication of the statistical attribute in map information associated with the link segment; and

use of the statistical attribute associated with the link segment as an input to compensate for errors in the navigational signal measurements to facilitate at least one of autonomous vehicle navigation or route guidance.

18. The medium of claim 17, further encoded with instructions that, when executed by a processor, perform identification of the location indicated by the link segment to be a location along the link segment from which the location indicated by the navigational signal measurement is perpendicular.

19. The medium of claim 17, further encoded with instructions that, when executed by a processor, perform sending of the indication of the statistical attribute to a separate apparatus.

20. The medium of claim 17, wherein the determination of the statistical attribute comprises determination of an adjusted statistical attribute of the set of measurement errors based, at least in part, on an average lane width and a number of lanes comprised by the link segment, and the statistical attribute is the adjusted statistical attribute.