公开(公告)号：US11500110B2

公开(公告)日：2022-11-15

申请号：US17005135

申请日：2020-08-27

Applicant: Google LLC

Inventor： David William Earle Orendorff ,  Imad Jean Fattouch ,  Mohammed Khider ,  Frank van Diggelen ,  Kevin Watts

IPC: G01S19/22 ,  G01C21/30 ,  G01S19/40

Abstract: A method of localization using bearing from environmental features includes receiving an estimated location of a global navigation satellite system (GNSS) receiver associated with a user and a corresponding bearing for the GNSS receiver. The method also includes identifying one or more environmental features about the estimated location of the GNSS receiver. The method further includes determining whether an orientation of a respective environmental feature of the one or more environmental features correlates to the corresponding bearing for the GNSS receiver. When the orientation of the respective environmental feature correlates to the corresponding bearing for the GNSS receiver, the method includes generating an updated bearing for the GNSS receiver or locational system that matches the orientation of the respective environmental feature.

公开(公告)号：US20220066047A1

公开(公告)日：2022-03-03

申请号：US17005135

申请日：2020-08-27

Applicant: Google LLC

Inventor： David William Earle Orendorff ,  Imad Jean Fattouch ,  Mohammed Khider ,  Frank van Diggelen ,  Kevin Watts

IPC: G01S19/22 ,  G01S19/25

Abstract: A method of localization using bearing from environmental features includes receiving an estimated location of a global navigation satellite system (GNSS) receiver associated with a user and a corresponding bearing for the GNSS receiver. The method also includes identifying one or more environmental features about the estimated location of the GNSS receiver. The method further includes determining whether an orientation of a respective environmental feature of the one or more environmental features correlates to the corresponding bearing for the GNSS receiver. When the orientation of the respective environmental feature correlates to the corresponding bearing for the GNSS receiver, the method includes generating an updated bearing for the GNSS receiver or locational system that matches the orientation of the respective environmental feature.

公开(公告)号：US20220066046A1

公开(公告)日：2022-03-03

申请号：US17004771

申请日：2020-08-27

Applicant: Google LLC

Inventor： Frank van Diggelen ,  Imad Jean Fattouch ,  David William Earle Orendorff

IPC: G01S19/22

Abstract: A method of Doppler-based localization includes establishing an estimated position for a moving receiver. The method also includes generating a plurality of candidate positions about the estimated position. Each candidate position corresponds to a possible actual location of the moving receiver. For each available satellite, the method includes receiving a measured Doppler effect for a signal from the respective available satellite caused by the moving receiver. For each available satellite, the method also includes, at each candidate position, determining a predicted direction of the signal based on ray-launching the signal to the respective satellite and generating a predicted Doppler effect for the moving receiver. The method further includes identifying a respective candidate position as an actual location for the moving receiver when, at the respective candidate position, the predicted Doppler effect for at least one satellite most closely matches the measured Doppler effect for the at least one satellite.