公开(公告)号：US10694325B2

公开(公告)日：2020-06-23

申请号：US15844384

申请日：2017-12-15

Applicant: GOOGLE LLC

Inventor： Patrick Robertson ,  Brian Williams ,  Maria Jesus Garcia Puyol ,  Etienne Le Grand ,  Mohammed Khider ,  Luigi Bruno

IPC: H04W4/02 ,  H04B17/318 ,  G01C5/06 ,  G01C21/08 ,  G01S11/06 ,  G01S5/02 ,  G01S19/46 ,  H04B17/27 ,  G01C21/00 ,  G01S19/45 ,  G01S19/48 ,  H04W84/12 ,  G01C21/20

Abstract: Positioning mobile devices in a three-dimensional space includes receiving multiple traces, each trace corresponding to a sequence of atmospheric pressure readings from a respective mobile device, receiving indications of signals received by the mobile devices from signal sources concurrently with the atmospheric pressure readings, generate similarity metrics for the multiple traces using the indications of other signals received by the mobile devices, the similarity metrics being indicative of associations between the signal sources and the atmospheric pressure readings, and determine estimated changes in elevation over time for the multiple traces using the generated similarity metrics.

公开(公告)号：US10356562B2

公开(公告)日：2019-07-16

申请号：US16126905

申请日：2018-09-10

Applicant: GOOGLE LLC

Inventor： Etienne Le Grand ,  Mohammed Khider ,  Luigi Bruno

IPC: H04W64/00 ,  H04W4/029 ,  H04W24/10 ,  H04W4/04 ,  H04W4/30 ,  H04W4/02 ,  H04W4/33

Abstract: Traces collected by multiple portable devices moving within a geographic area that includes an indoor region, each of the traces including measurements of wireless signals sources at different times by a same device, and at least some of the traces including pseudorange measurements related to distances to respective satellites. Location estimates for the portable devices and the signal sources are generated using graph-based SLAM optimization of the location estimates. More particularly, constraints for the pseudorange measurements are generated and applied for the pseudorange measurements in graph-based SLAM optimization.

公开(公告)号：US20240421474A1

公开(公告)日：2024-12-19

申请号：US18336363

申请日：2023-06-16

Applicant: Google LLC

Inventor： Frank Stephen Tromp van Diggelen ,  Mohammed Khider

IPC: H01Q3/04 ,  H01Q1/24

Abstract: Example embodiments relate to centimeter-accurate localization using asymmetric antennas. A pair of mobile devices can establish a wireless communication connection with one device acting as a base station and the other being a rover for real-time kinematic (RTK) positioning. When the mobile devices have similar asymmetric antennas for Global Navigation Satellite System (GNSS) signal reception, errors caused by the asymmetric antennas can be canceled by combining measurements from both devices. The rover mobile device may display instructions for the user to adjust its orientation to align with the orientation of the base station mobile device. The rover mobile device can then obtain and use measurement or correction data from the base station to determine its position relative to the rover mobile device. Such techniques can be performed by complementary model devices to be used to map areas to a high degree of precision (e.g., centimeter level), including elevation.

公开(公告)号：US20230324499A1

公开(公告)日：2023-10-12

申请号：US18040743

申请日：2020-08-18

Applicant: Google LLC

Inventor： Mohammed Khider ,  Luigi Bruno ,  Wei Wang

IPC: G01S5/00 ,  G01S5/02

CPC classification number: G01S5/012 ,  G01S5/0063 ,  G01S5/02529 ,  G01S5/0036 ,  G01S5/0242 ,  G01S2205/02 ,  H04W64/006

Abstract: This document describes a client-server approach for indoor-outdoor detection of an electronic device, and associated systems and methods. A server (104) collects crowdsourced information (140) from devices that detected a plurality of access points. An electronic device (102), performing a wire-less-network scan, detects access points (122) within range and detects sensor data (126) from other sensors (124). The electronic device (102) transmits such information to the server (104). The server accesses the crowdsourced information (140) to determine, per access point (122) detected in the scan, a percentage of total detections of the access point that are accompanied by a GPS signal of a device that detected the access point and an RSS value below which no such GPS signal accompanies the detections. The percentage and the RSS value enable a determination of a probability indicating whether the electronic device (102) is located outdoors, lightly indoors, or deep indoors, which enables the electronic device to trigger a corresponding function.

公开(公告)号：US11275179B1

公开(公告)日：2022-03-15

申请号：US17019150

申请日：2020-09-11

Applicant: Google LLC

Inventor： Frank Van Diggelen ,  Mohammed Khider ,  Arastoo Zabolestani Moradi

IPC: G01S19/22 ,  G01S19/39 ,  G01S19/37

Abstract: A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data. Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.

公开(公告)号：US20220066048A1

公开(公告)日：2022-03-03

申请号：US17019150

申请日：2020-09-11

Applicant: Google LLC

Inventor： Frank van Diggelen ,  Mohammed Khider ,  Arastoo Zabolestani Moradi

IPC: G01S19/22 ,  G01S19/37 ,  G01S19/39

Abstract: A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data. Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.