Context determination to assist location determination accuracy
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-021/30
G01C-021/16
G01C-021/34
G01S-019/49
G01C-021/26
G01C-021/28
출원번호
US-0549250
(2009-08-27)
등록번호
US-9116002
(2015-08-25)
발명자
/ 주소
Mayor, Robert
Huang, Ronald Keryuan
Piemonte, Patrick
출원인 / 주소
Apple Inc.
대리인 / 주소
Fish & Richardson P.C.
인용정보
피인용 횟수 :
0인용 특허 :
34
초록▼
A location aware device includes a navigation system and one or more environment sensors. Sensor output(s) are aggregated and used to determine a context for the location aware device. Based on the determined context, context data is generated and provided to a navigation engine where it can be used
A location aware device includes a navigation system and one or more environment sensors. Sensor output(s) are aggregated and used to determine a context for the location aware device. Based on the determined context, context data is generated and provided to a navigation engine where it can be used to determine a navigation solution.
대표청구항▼
1. A computer-implemented method performed by a location aware device, the method comprising: generating context data based on outputs from one or more sensors of the location aware device, the context data indicating at least one of whether the device is moving or whether the device is turning;dete
1. A computer-implemented method performed by a location aware device, the method comprising: generating context data based on outputs from one or more sensors of the location aware device, the context data indicating at least one of whether the device is moving or whether the device is turning;determining, by a context-based weight selector of the device, one or more weights corresponding to the context data, each weight representing contribution of measurements of position or heading to previous measurements of position or heading, respectively;determining a navigation solution for the location aware device by a navigation subsystem of the device;determining an error estimate of the navigation solution using the one or more weights, including weighting or de-weighting measurements of the navigation subsystem using the one or more weights by a statistical filter of the device;determining whether to move or hold a position of an icon or marker in a map view based on whether the error estimate indicates that the navigation solution needs to be changed, where the icon or marker represents an estimated current location of the location aware device,where the method is performed by one or more hardware processors. 2. The method of claim 1, where the sensors include an accelerometer, a magnetometer or a gyroscope. 3. The method of claim 1, where each weight includes a Kalman gain matrix, and the statistical filter is a Kalman filter. 4. The method of claim 3, where the context data is sent to a navigation engine incorporated in an integrated circuit chip. 5. The method of claim 4, where the navigation engine uses output of a Global Positioning System (GPS) receiver. 6. The method of claim 1, comprising: determining, from data provided from an inertial navigation system of the device, a predicted navigation state; andproviding a difference between the navigation solution and the predicted navigation state as input to the statistic filter. 7. The method of claim 1, where the measurements of position or heading are taken at time k, and the previous measurements of position or heading are taken at time k−1. 8. A location aware device, comprising: one or more sensors; andone or more processors coupled to the one or more sensors, the one or more processor configured to perform operations comprising:generating context data based on outputs from the one or more sensors of the location aware device, the context data indicating at least one of whether the device is moving or whether the device is turning;determining, by a context-based weight selector of the device, one or more weights corresponding to the context data, each weight representing contribution of measurements of position or heading to previous measurements of position or heading, respectively;determining a navigation solution for the location aware device; by a navigation subsystem of the device;determining an error estimate of the navigation solution using the one or more weights, including weighting or de-weighting measurements of the navigation subsystem using the one or more weights by a statistical filter of the device; and determining whether to move or hold a position of an icon or marker in a map view based on whether the error estimate indicates that the navigation solution needs to be changed, where the icon or marker represents an estimated current location of the location aware device. 9. The device of claim 8, where the one or more sensors include an accelerometer, a magnetometer or a gyroscope. 10. The device of claim 8, where each weight includes a Kalman gain matrix, and the statistical filter is a Kalman filter. 11. The device of claim 8, where the navigation solution is determined by a navigation engine incorporated in an integrated circuit chip. 12. The device of claim 11, where the navigation engine uses output of a Global Positioning System (GPS) receiver. 13. The device of claim 8, comprising: determining, from data provided from an inertial navigation system of the device, a predicted navigation state; andproviding a difference between the navigation solution and the predicted navigation state as input to the statistic filter. 14. The device of claim 8, where the measurements of position or heading are taken at time k, and the previous measurements of position or heading are taken at time k−1. 15. A non-transitory computer readable medium storing instructions that, when executed by one or more processors, cause the one or more process to perform operations comprising: generating context data based on outputs from one or more sensors of a location aware device, the context data indicating at least one of whether the device is moving or whether the device is turning;determining, by a context-based weight selector of the device, one or more weights corresponding to the context data, each weight representing contribution of measurements of position or heading to previous measurements of position or heading, respectively;determining a navigation solution for the location aware device by a navigation subsystem of the device;determining an error estimate of the navigation solution using the one or more weights, including weighting or de-weighting measurements of the navigation subsystem using the one or more weights by a statistical filter of the device; anddetermining whether to move or hold a position of an icon or marker in a map view based on whether the error estimate indicates that the navigation solution needs to be changed, where the icon or marker represents an estimated current location of the location aware device. 16. The non-transitory computer readable medium of claim 15, where each weight includes a Kalman gain matrix, and the statistical filter is a Kalman filter. 17. The non-transitory computer readable medium of claim 15, where the sensors include an accelerometer, a magnetometer or a gyroscope.
Estes, Robert Alan; Morsy, Hatem Salem; Brooks, Andrew G., Apparatus to measure the earth's local gravity and magnetic field in conjunction with global positioning attitude determination.
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