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    ESTIMATING AN INITIAL POSITION AND NAVIGATION STATE USING VEHICLE ODOMETRY
    21.
    发明申请
    ESTIMATING AN INITIAL POSITION AND NAVIGATION STATE USING VEHICLE ODOMETRY 有权
    使用车辆测距法估算初始位置和航行状态

    公开(公告)号：US20140288828A1

    公开(公告)日：2014-09-25

    申请号：US14087743

    申请日：2013-11-22

    Applicant: QUALCOMM Incorporated

    Inventor： Benjamin A. Werner ,  William James Morrison ,  Wyatt Thomas Riley ,  Joseph Czompo

    IPC: G01C21/00

    CPC classification number: G01C21/00 ,  G01C21/20

    Abstract: The disclosure relates to estimating an initial position and navigation state associated with a vehicle using odometry and/or other data obtained from the vehicle to support dead reckoning at start-up. In particular, a last known position and last known heading at a first odometer value associated with the vehicle may be stored and compared to a current odometer value after linking a mobile device with the vehicle. The last known position and last known heading may be used to estimate the initial position and navigation state associated with the vehicle based on a difference between the compared odometer values. For example, the estimated initial position and/or navigation state may substantially correspond to the last known position and last known heading if the difference between the odometer values indicates no change, or a non-zero difference may define a radius to limit an estimated error associated with the initial position estimate.

    Abstract translation: 本公开涉及使用测距仪和/或从车辆获得的其他数据来估计与车辆相关联的初始位置和导航状态，以支持在启动时的推算。 特别地，可以将与车辆相关联的第一里程计值的最后一个已知位置和最后一个已知航向存储并与移动设备与车辆连接之后与当前里程计值进行比较。 最后一个已知的位置和最后一个已知航向可以用于基于比较的里程计值之间的差异来估计与车辆相关联的初始位置和导航状态。 例如，估计的初始位置和/或导航状态可以基本上对应于最后一个已知位置和最后一个已知的航程，如果里程表值之间的差表示没有变化，或者非零差异可以限定半径以限制估计的误差 与初始位置估计相关联。

    Heading, velocity, and position estimation with vehicle sensors, mobile device, and GNSS inputs
    27.
    发明授权
    Heading, velocity, and position estimation with vehicle sensors, mobile device, and GNSS inputs 有权
    车辆传感器，移动设备和GNSS输入的标题，速度和位置估计

    公开(公告)号：US09250083B2

    公开(公告)日：2016-02-02

    申请号：US14087797

    申请日：2013-11-22

    Applicant: QUALCOMM Incorporated

    Inventor： Joseph Czompo ,  Benjamin A. Werner ,  Vesa Veikko Ruuska ,  William James Morrison

    IPC: G01C21/16 ,  G01S19/40 ,  G01S19/49 ,  G01S5/02

    CPC classification number: G01C21/165 ,  G01S5/0263 ,  G01S19/40 ,  G01S19/49

    Abstract: The disclosure generally relates to determining position of a motorized vehicle using wireless techniques. Methods, apparatus and systems are disclosed. A method can include: receiving absolute positioning data; receiving, from a mobile device, at least one of gyroscope data and odometry data; receiving, from a vehicle, at least one of gyroscope data and odometry data; initializing at least a heading to determine a relative path, wherein the relative path is based at least in part on the received data from the mobile device and the vehicle, wherein the received data comprises gyroscope data and odometry data; and shifting the relative path to an estimated path, wherein the estimated path is based at least in part on the absolute positioning data.

    Abstract translation: 本公开一般涉及使用无线技术来确定机动车辆的位置。 公开了方法，装置和系统。 一种方法可以包括：接收绝对定位数据; 从移动设备接收陀螺仪数据和测距数据中的至少一个; 从车辆接收陀螺仪数据和测距数据中的至少一个; 至少初始化标题以确定相对路径，其中所述相对路径至少部分地基于来自所述移动设备和所述车辆的所接收的数据，其中所接收的数据包括陀螺仪数据和测距数据; 以及将所述相对路径移动到估计路径，其中所述估计路径至少部分地基于所述绝对定位数据。

    METHOD AND APPARATUS FOR ASYNCHROSOUS POSITIONING OF WIRELESS BASE STATIONS
    30.
    发明申请
    METHOD AND APPARATUS FOR ASYNCHROSOUS POSITIONING OF WIRELESS BASE STATIONS 有权
    无线基站非线性定位的方法与装置

    公开(公告)号：US20150105097A1

    公开(公告)日：2015-04-16

    申请号：US14054132

    申请日：2013-10-15

    Applicant: Qualcomm Incorporated

    Inventor： Ming Sun ,  Benjamin A. Werner ,  Weihua Gao ,  Sai Pradeep Venkatraman

    IPC: H04W64/00

    CPC classification number: H04W64/003 ,  G01S5/0226 ,  G01S5/0242 ,  G01S5/06 ,  H04W64/006

    Abstract: Various arrangements for determining a location of a base station without timing synchronization are presented. A mobile device may determine that it is moving faster than a threshold velocity. The mobile device may capture a first unsynchronized time of arrival (TOA) measurement and determine an associated first location, wherein the first unsynchronized TOA measurement is based on a first unsynchronized timing measurement of a first received reference signal. The mobile device may capture a second unsynchronized TOA measurement and determine an associated second location, wherein the second unsynchronized TOA measurement is based on a second unsynchronized timing measurement of a second received reference signal. Based on the mobile device moving faster than the threshold velocity, the first location, the second location, the first unsynchronized TOA measurement, and the second unsynchronized TOA measurement may be used for determining the location of the base station.

    Abstract translation: 呈现用于确定基站的位置而不进行定时同步的各种布置。 移动设备可以确定其移动速度比阈值速度快。 移动设备可以捕获第一不同步到达时间（TOA）测量并确定相关联的第一位置，其中第一非同步TOA测量基于第一接收到的参考信号的第一不同步定时测量。 移动设备可捕获第二非同步TOA测量并确定相关联的第二位置，其中第二非同步TOA测量基于第二接收参考信号的第二非同步定时测量。 基于移动设备移动速度超过阈值速度，可以使用第一位置，第二位置，第一不同步的TOA测量和第二非同步的TOA测量来确定基站的位置。

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