公开(公告)号：US09491585B2

公开(公告)日：2016-11-08

申请号：US14292859

申请日：2014-05-31

Applicant: Apple Inc.

Inventor： Joseph Ding-Jiu Huang ,  Abhinav R. Patel ,  Darin Tay ,  David Benjamin Millman ,  Jessica Noel Tsoong ,  Robert Mayor ,  Vitali Lovich

IPC: H04W24/00 ,  H04W4/04

CPC classification number: H04W4/04

Abstract: Methods, systems, and computer program product for location determination using dual statistical filters are described. A mobile device can determine a location of the mobile device using a particle filter and a Kalman filter. The particle filter can filter candidate locations of the mobile device using measurements of environment variables in the venue. The Kalman filter can filter inputs from a sensor of the mobile device for measuring angular movement of the mobile device. The particle filter and the Kalman filter can be linked by heading of the mobile device. Output of the Kalman filter can be used to determine where to place particles, or candidate locations, in a next iteration of the particle filter. Output from the particle filter can be used to determine a center mode of the Kalman filter and to determine a bias of the sensor for measuring angular movement.

Abstract translation: 描述了使用双统计滤波器进行位置确定的方法，系统和计算机程序产品。 移动设备可以使用粒子滤波器和卡尔曼滤波器来确定移动设备的位置。 粒子滤波器可以使用场地中环境变量的测量来过滤移动设备的候选位置。 卡尔曼滤波器可以对来自移动设备的传感器的输入进行滤波，以测量移动设备的角度运动。 粒子滤波器和卡尔曼滤波器可以通过移动设备的标题链接。 可以使用卡尔曼滤波器的输出来确定在粒子滤波器的下一次迭代中放置颗粒或候选位置的位置。 可以使用粒子滤波器的输出来确定卡尔曼滤波器的中心模式，并确定用于测量角运动的传感器的偏置。

公开(公告)号：US20150350849A1

公开(公告)日：2015-12-03

申请号：US14292859

申请日：2014-05-31

Applicant: Apple Inc.

Inventor： Joseph Ding-Jiu Huang ,  Abhinav R. Patel ,  Darin Tay ,  David Benjamin Millman ,  Jessica Noel Tsoong ,  Robert Mayor ,  Vitali Lovich

IPC: H04W4/04

CPC classification number: H04W4/04

Abstract: Methods, systems, and computer program product for location determination using dual statistical filters are described. A mobile device can determine a location of the mobile device using a particle filter and a Kalman filter. The particle filter can filter candidate locations of the mobile device using measurements of environment variables in the venue. The Kalman filter can filter inputs from a sensor of the mobile device for measuring angular movement of the mobile device. The particle filter and the Kalman filter can be linked by heading of the mobile device. Output of the Kalman filter can be used to determine where to place particles, or candidate locations, in a next iteration of the particle filter. Output from the particle filter can be used to determine a center mode of the Kalman filter and to determine a bias of the sensor for measuring angular movement.

Abstract translation: 描述了使用双统计滤波器进行位置确定的方法，系统和计算机程序产品。 移动设备可以使用粒子滤波器和卡尔曼滤波器来确定移动设备的位置。 粒子滤波器可以使用场地中环境变量的测量来过滤移动设备的候选位置。 卡尔曼滤波器可以对来自移动设备的传感器的输入进行滤波，以测量移动设备的角度运动。 粒子滤波器和卡尔曼滤波器可以通过移动设备的标题链接。 可以使用卡尔曼滤波器的输出来确定在粒子滤波器的下一次迭代中放置颗粒或候选位置的位置。 可以使用粒子滤波器的输出来确定卡尔曼滤波器的中心模式，并确定用于测量角运动的传感器的偏置。

公开(公告)号：US20150346317A1

公开(公告)日：2015-12-03

申请号：US14292853

申请日：2014-05-31

Applicant: Apple Inc.

Inventor： Abhinav R. Patel ,  Darin Tay ,  David Benjamin Millman ,  Jessica Noel Tsoong ,  Joseph Ding-Jiu Huang ,  Robert Mayor ,  Vitali Lovich

IPC: G01S5/02

CPC classification number: G01S5/0289 ,  G01S5/0252 ,  G01S5/0284 ,  G01S5/0294 ,  H04W4/02

Abstract: Methods, systems, and computer program product for deduplicating location fingerprint data for a venue are described. A system including a location server, or a mobile device, or both, can deduplicate the location fingerprint data. Deduplicating the location fingerprint data can include identifying correlated signal sources the signals of which are mutually dependent such that measurements of one signal source can be used to predict measurements of another. The system can determine a mutual information entropy value for each pair of signal sources, and identify the correlated signal sources based on high mutual information entropy value. The system can adjust weights of the correlated signal sources in location determination

Abstract translation: 描述了用于对场地进行重复数据删除位置指纹数据的方法，系统和计算机程序产品。 包括位置服务器或移动设备或两者的系统可以对位置指纹数据进行重复数据删除。 对位置指纹数据进行重复数据删除可以包括识别信号相互依赖的相关信号源，使得可以使用一个信号源的测量来预测另一信号源的测量。 该系统可以确定每对信号源的互信息熵值，并且基于高互信息熵值来识别相关信号源。 该系统可以在位置确定中调整相关信号源的权重

公开(公告)号：US10681666B2

公开(公告)日：2020-06-09

申请号：US14479228

申请日：2014-09-05

Applicant: Apple Inc.

Inventor： Brian Stephen Smith ,  Joseph Ding-Jiu Huang ,  Ilya K. Veygman ,  Robert Mayor ,  David Benjamin Millman ,  Abhinav R. Patel ,  Vitali Lovich

IPC: H04W64/00 ,  H04W4/029 ,  G01S19/48 ,  G01S5/02

Abstract: Coarse location estimation for mobile devices is disclosed for detecting mobile device presence at general locations of interest and switching operating modes and services for one or more location context aware applications. In some implementations, sensor data is received from a plurality of data sources at a location. For each data source, a first probability is estimated that the mobile device is at the location based on sensor data from the data sources. A second probability is estimated that the mobile device is not at the location based on sensor data from the data sources. The first and second estimated probabilities are statistically combined to generate a third estimated probability that the mobile device is at the location.

公开(公告)号：US09918203B2

公开(公告)日：2018-03-13

申请号：US14866424

申请日：2015-09-25

Applicant: Apple Inc.

Inventor： Joseph Ding-Jiu Huang ,  Darin Tay ,  Robert Mayor ,  David Benjamin Millman

IPC: H04W24/00 ,  H04W4/04 ,  H04W64/00

CPC classification number: H04W4/33 ,  G01C21/206 ,  G01S5/0263 ,  G01S5/0278 ,  H04W4/043 ,  H04W24/00 ,  H04W64/006

Abstract: Methods, systems, and computer program products for correcting in-venue location estimation using structural information are described. A mobile device can use wireless location technologies and dead reckoning to determine an estimated location of the mobile device in a venue. The mobile device can compare the estimated location with a map of the venue. Upon determining that the estimated location conflicts with a structural constraint, the mobile device can adjust the location estimation using the structural information. Adjusting the location estimation can include adjusting a statistical filter that provides estimation of the location and changing a heading of the mobile device used in the dead reckoning.

公开(公告)号：US09838848B2

公开(公告)日：2017-12-05

申请号：US14866769

申请日：2015-09-25

Applicant: Apple Inc.

Inventor： Vitali Lovich ,  Darin Tay ,  Robert Mayor ,  Joseph Ding-Jiu Huang

IPC: H04W24/00 ,  H04W4/02 ,  H04W4/04

CPC classification number: H04W4/029 ,  H04W4/046 ,  H04W24/00

Abstract: Methods, systems, and computer program product for prefetching location data based on predicted user behavior. A mobile device can request, from a user routine subsystem of the mobile device, a list of locations that a user of the mobile device routinely visits while the user carries the mobile device. The mobile device can determine a cluster of these locations that are within a specified distance between one another. The mobile device can request location data for these locations from a location server, even if the user is not at one of these locations. The location data can include a venue map and a venue location fingerprint. Upon detecting that the user entered a venue at one of these locations, the mobile device can determine a location of the user inside of the venue using the venue location fingerprint. The mobile device can then display the location on a venue map.

公开(公告)号：US20160360377A1

公开(公告)日：2016-12-08

申请号：US14866769

申请日：2015-09-25

Applicant: Apple Inc.

Inventor： Vitali Lovich ,  Darin Tay ,  Robert Mayor ,  Joseph Ding-Jiu Huang

IPC: H04W4/02 ,  H04W4/04

CPC classification number: H04W4/029 ,  H04W4/046 ,  H04W24/00

Abstract: Methods, systems, and computer program product for prefetching location data based on predicted user behavior. A mobile device can request, from a user routine subsystem of the mobile device, a list of locations that a user of the mobile device routinely visits while the user carries the mobile device. The mobile device can determine a cluster of these locations that are within a specified distance between one another. The mobile device can request location data for these locations from a location server, even if the user is not at one of these locations. The location data can include a venue map and a venue location fingerprint. Upon detecting that the user entered a venue at one of these locations, the mobile device can determine a location of the user inside of the venue using the venue location fingerprint. The mobile device can then display the location on a venue map.

Abstract translation: 基于预测用户行为预取位置数据的方法，系统和计算机程序产品。 移动设备可以从移动设备的用户例程子系统请求用户携带移动设备时移动设备的用户常规访问的位置列表。 移动设备可以确定彼此之间在指定距离内的这些位置的群集。 移动设备可以从位置服务器请求这些位置的位置数据，即使用户不在这些位置之一。 位置数据可以包括场地图和场地位置指纹。 当检测到用户在这些位置之一进入场地时，移动设备可以使用场所位置指纹来确定场内的用户的位置。 然后，移动设备可以在场地地图上显示位置。