公开(公告)号：US09838846B1

公开(公告)日：2017-12-05

申请号：US14815500

申请日：2015-07-31

Applicant: Google Inc.

Inventor： Etienne Le Grand

IPC: H04W24/00 ,  H04W4/02 ,  G01C21/12

CPC classification number: H04W4/026 ,  G01C21/165 ,  G01C22/006

Abstract: A method implemented by one or more processors may include determining a rotation between a client device frame and a world frame, determining a rotation between an average gravity aligned (AGA) frame of the client device and the client device frame, performing step detection of the client device, and determining a change in orientation from a first detected step to a second detected step. In one example, computing the change in orientation includes determining a rotation between a horizontally projected AGA (HPAGA) frame and the AGA frame, determining a rotation between the world frame and the HPAGA frame, and determining the change in orientation by using the rotation between the world frame and the HPAGA frame. The method may also include determining, using the computed change in orientation, pedestrian dead reckoning data of the client device over a time period, and determining an output location estimate of the client device using the pedestrian dead reckoning data.

公开(公告)号：US20170010128A1

公开(公告)日：2017-01-12

申请号：US15275648

申请日：2016-09-26

Applicant: Google Inc.

Inventor： Etienne Le Grand ,  Brian Patrick Williams

IPC: G01C25/00 ,  G01S19/13 ,  H04W4/02 ,  G01C19/00

CPC classification number: G01C25/00 ,  G01C19/00 ,  G01C21/12 ,  G01C22/006 ,  G01C25/005 ,  G01S5/02 ,  G01S19/13 ,  G01S19/49 ,  H04W4/026 ,  H04W4/027 ,  H04W4/029

Abstract: Examples include systems and methods for decomposition of error components between angular, forward, and sideways errors in estimated positions of a computing device. One method includes determining an estimation of a current position of the computing device based on a previous position of the computing device, an estimated speed over an elapsed time, and a direction of travel of the computing device, determining a forward, sideways, and orientation change error component of the estimation of the current position of the computing device, determining a weight to apply to the forward, sideways, and orientation change error components based on average observed movement of the computing device, and using the weighted forward, sideways, and orientation change error components as constraints for determination of an updated estimation of the current position of the computing device.

Abstract translation: 示例包括用于在计算设备的估计位置的角度，前向和侧向误差之间分解误差分量的系统和方法。 一种方法包括基于计算设备的先前位置，经过的时间的估计速度和计算设备的行进方向来确定计算设备的当前位置的估计，确定前向，侧向和定向 改变计算装置的当前位置的估计的误差分量，基于计算装置的平均观察运动确定应用于向前，侧向和方向改变误差分量的权重，以及使用加权的向前，侧向和 取向变化误差分量作为用于确定计算设备的当前位置的更新估计的约束。

公开(公告)号：US09544871B2

公开(公告)日：2017-01-10

申请号：US14509189

申请日：2014-10-08

Applicant: Google Inc.

Inventor： Etienne Le Grand ,  Brian Patrick Williams

IPC: H04W4/04 ,  H04W88/08 ,  H04W64/00 ,  G01S19/01 ,  G01S5/02

CPC classification number: H04W64/003 ,  G01S5/0252 ,  G01S19/01 ,  H04W4/04 ,  H04W64/006 ,  H04W88/08

Abstract: Examples describe systems and methods for iteratively determining a signal strength map for a wireless access point (AP) aligned to position coordinates, positions of a device, and positions of the wireless APs. An example method includes selecting traces and a wireless AP among the traces for which data is indicative of a threshold amount of information to estimate a position of the device and a position of the wireless AP, selecting first characteristics from the traces to remain constant and second characteristics to be variable, and selecting a localization constraint that provides boundaries on the position of the device and the position of the wireless AP. The method also includes performing a simultaneous localization and mapping (SLAM) optimization of the position of the device and the position of the wireless AP based on the localization constraint with the first characteristics held constant and the second characteristics allowed to vary.

Abstract translation: 示例描述用于迭代地确定与位置坐标，设备的位置和无线AP的位置对准的无线接入点（AP）的信号强度图的系统和方法。 示例性方法包括在迹线中选择迹线和无线AP，数据指示阈值信息量以估计设备的位置和无线AP的位置，从迹线中选择第一特性以保持恒定，并且第二 特征是可变的，并且选择在设备的位置和无线AP的位置上提供边界的定位约束。 该方法还包括基于定位约束执行设备的位置和无线AP的位置的同时定位和映射（SLAM）优化，其中第一特性保持恒定，并且允许第二特性变化。

公开(公告)号：US20160157059A1

公开(公告)日：2016-06-02

申请号：US15018936

申请日：2016-02-09

Applicant: Google Inc.

Inventor： Mohammed Waleed Kadous ,  Marc Stogaitis ,  Brian Patrick Williams ,  Etienne Le Grand

IPC: H04W4/02 ,  H04W48/16

CPC classification number: H04W4/023 ,  H04W24/00 ,  H04W48/16 ,  H04W48/18

Abstract: The present disclosure describes methods, systems, and apparatuses for determining the likelihood that two wireless scans of a mobile computing device were performed in the same location. The likelihood is determined by scanning for wireless networks with a computing device. The scanning includes a receiving a plurality of network attributes for each wireless networks within the range of the mobile computing device. Further, the likelihood is determined by comparing the plurality of network attributes from the scanning with a reference set of network attributes. The comparing of network attributes is used to determine an attribute comparison. Finally, the likelihood between a position associated with the reference set of network attributes and the computing device, based on the attribute comparison, determines a position associated with the network.

公开(公告)号：US09357520B2

公开(公告)日：2016-05-31

申请号：US14169175

申请日：2014-01-31

Applicant: Google Inc.

Inventor： Etienne Le Grand ,  Brian Patrick Williams

IPC: H04W24/00 ,  H04W64/00 ,  H04W92/10 ,  H04W4/06 ,  H04W84/12

CPC classification number: H04W64/003 ,  G01S5/0252 ,  H04W4/06 ,  H04W84/12 ,  H04W92/10

Abstract: Examples herein include methods and systems for signal diffusion modeling for a discretized map of signal. An example method includes receiving data related to RSSI for a wireless AP for a plurality of locations of an area, associating the data to a diagram of the area based on the plurality of locations of the area, determining a given partition of the diagram in which a magnitude of a given RSSI associated with the given partition is greater than or equal to a highest magnitude of a given RSSI associated with any partitions of the plurality of partitions, assigning a location of the wireless AP to be within the given partition, and applying a constraint such that a magnitude of a given RSSI associated with other respective partitions is less than or equal to a highest magnitude of a given RSSI associated with neighboring partitions of the other respective partitions.

Abstract translation: 本文的示例包括用于信号的离散映射的信号扩散建模的方法和系统。 一个示例性方法包括接收关于区域的多个位置的用于无线AP的RSSI的数据，基于该区域的多个位置将该数据与该区域的图相关联，确定该图的给定分区，其中 与给定分区相关联的给定RSSI的大小大于或等于与多个分区中的任何分区相关联的给定RSSI的最大幅度，将无线AP的位置分配给在给定分区内，以及应用 约束使得与其他相应分区相关联的给定RSSI的幅度小于或等于与其他相应分区的相邻分区相关联的给定RSSI的最大幅度。

公开(公告)号：US09294877B2

公开(公告)日：2016-03-22

申请号：US13972713

申请日：2013-08-21

Applicant: Google Inc.

Inventor： Mohammed Waleed Kadous ,  Marc Stogaitis ,  Brian Patrick Williams ,  Etienne Le Grand

IPC: H04W4/00 ,  H04W4/02 ,  H04W24/00 ,  H04W48/16 ,  H04W48/18

CPC classification number: H04W4/023 ,  H04W24/00 ,  H04W48/16 ,  H04W48/18

Abstract: The present disclosure describes methods, systems, and apparatuses for determining the likelihood that two wireless scans of a mobile computing device were performed in the same location. The likelihood is determined by scanning for wireless networks with a computing device. The scanning includes a receiving a plurality of network attributes for each wireless networks within the range of the mobile computing device. Further, the likelihood is determined by comparing the plurality of network attributes from the scanning with a reference set of network attributes. The comparing of network attributes is used to determine an attribute comparison. Finally, the likelihood between a position associated with the reference set of network attributes and the computing device, based on the attribute comparison, determines a position associated with the network.

公开(公告)号：US20160080908A1

公开(公告)日：2016-03-17

申请号：US14843955

申请日：2015-09-02

Applicant: Google Inc.

Inventor： Brian John Julian ,  Etienne Le Grand ,  Brian Patrick Williams

IPC: H04W4/02 ,  H04L12/26

CPC classification number: H04W4/029 ,  H04L41/142 ,  H04L43/08 ,  H04W4/023

Abstract: Disclosed are apparatus and methods for providing outputs; e.g., location estimates, based on trained Gaussian processes. A computing device can determine trained Gaussian processes related to wireless network signal strengths, where a particular trained Gaussian process is associated with one or more hyperparameters. The computing device can designate one or more hyperparameters. The computing device can determine a hyperparameter histogram for values of the designated hyperparameters of the trained Gaussian processes. The computing device can determine a candidate Gaussian process associated with one or more candidate hyperparameter value for the designated hyperparameters. The computing device can determine whether the candidate hyperparameter values are valid based on the hyperparameter histogram. The computing device can, after determining that the candidate hyperparameter values are valid, add the candidate Gaussian process to the trained Gaussian processes. The computing device can provide an estimated location output based on the trained Gaussian processes.

Abstract translation: 公开了用于提供输出的装置和方法; 例如，基于经训练的高斯过程的位置估计。 计算设备可以确定与无线网络信号强度相关的经训练的高斯过程，其中特定训练高斯过程与一个或多个超参数相关联。 计算设备可以指定一个或多个超参数。 计算设备可以确定训练高斯过程的指定超参数的值的超参数直方图。 计算设备可以确定与指定的超参数的一个或多个候选超参数值相关联的候选高斯过程。 计算设备可以基于超参数直方图来确定候选超参数值是否有效。 在确定候选超参数值有效之后，计算设备可以将候选高斯过程加到经过训练的高斯过程中。 计算设备可以基于经过训练的高斯过程来提供估计的位置输出。

公开(公告)号：US20160025498A1

公开(公告)日：2016-01-28

申请号：US14444072

申请日：2014-07-28

Applicant: Google Inc.

Inventor： Etienne Le Grand

IPC: G01C21/12

CPC classification number: G01C21/12 ,  G01C21/14

Abstract: Examples describe systems and methods for performing a multi-step approach for map generation and device localizing using data collected by the device and observations of interdependencies between the data. An example method includes receiving logs of data collected by the device, determining a constraint for locations of the device according to a comparison of data in the logs of data with available known signal strength maps of corresponding data, and performing a first simultaneous localization and mapping (SLAM) optimization of location estimates of the device using the logs of data and the constraint as a first initialization. A second SLAM optimization is performed using outputs of the first SLAM optimization and relative estimates of the device based on dead reckoning as a second initialization. An output location estimate of the device is provided based on the second SLAM optimization.

Abstract translation: 示例描述了使用由设备收集的数据和数据之间的相互依赖性观察来执行用于地图生成和设备定位的多步骤方法的系统和方法。 示例性方法包括接收由设备收集的数据的日志，根据数据记录中的数据与可用的相应数据的已知信号强度图的比较来确定设备的位置的约束，以及执行第一同时定位和映射 （SLAM）使用数据日志和约束作为第一初始化的设备的位置估计的优化。 使用第一SLAM优化的输出和基于推算作为第二初始化的设备的相对估计来执行第二SLAM优化。 基于第二SLAM优化提供设备的输出位置估计。

公开(公告)号：US20150237595A1

公开(公告)日：2015-08-20

申请号：US14509189

申请日：2014-10-08

Applicant: Google Inc.

Inventor： Etienne Le Grand ,  Brian Patrick Williams

IPC: H04W64/00 ,  H04W4/04 ,  G01S19/01

CPC classification number: H04W64/003 ,  G01S5/0252 ,  G01S19/01 ,  H04W4/04 ,  H04W64/006 ,  H04W88/08

Abstract: Examples describe systems and methods for iteratively determining a signal strength map for a wireless access point (AP) aligned to position coordinates, positions of a device, and positions of the wireless APs. An example method includes selecting traces and a wireless AP among the traces for which data is indicative of a threshold amount of information to estimate a position of the device and a position of the wireless AP, selecting first characteristics from the traces to remain constant and second characteristics to be variable, and selecting a localization constraint that provides boundaries on the position of the device and the position of the wireless AP. The method also includes performing a simultaneous localization and mapping (SLAM) optimization of the position of the device and the position of the wireless AP based on the localization constraint with the first characteristics held constant and the second characteristics allowed to vary.

Abstract translation: 示例描述用于迭代地确定与位置坐标，设备的位置和无线AP的位置对准的无线接入点（AP）的信号强度图的系统和方法。 示例性方法包括在迹线中选择迹线和无线AP，数据指示阈值信息量以估计设备的位置和无线AP的位置，从迹线中选择第一特性以保持恒定，并且第二 特征是可变的，并且选择在设备的位置和无线AP的位置上提供边界的定位约束。 该方法还包括基于定位约束执行设备的位置和无线AP的位置的同时定位和映射（SLAM）优化，其中第一特性保持恒定，并且允许第二特性变化。

公开(公告)号：US09015378B2

公开(公告)日：2015-04-21

申请号：US13968402

申请日：2013-08-15

Applicant: Google Inc.

Inventor： Etienne Le Grand ,  Mathias Agopian

IPC: G06F3/00 ,  G06F5/00 ,  G06F11/30

CPC classification number: G06F11/3065 ,  G06F11/3072 ,  G06F11/3096 ,  G06F11/3476

Abstract: Methods and systems for acquiring and batching sensor data using a mobile device are described. In one example, a system in a mobile device is provided. The system includes one or more sensors, a memory, a sensor processor, and a main application processor. The sensor processor is configured to determine sensor data using the one or more sensors on an interval basis and store the sensor data into one or more first-in, first-out (FIFO) queues. Additionally, the sensor processor is configured to replace at least a portion of the stored sensor data if a main application processor of the mobile device does not request the stored sensor data within a certain amount of time. The main application processor is configured to receive data indicating a request for sensor data for a recent time period and, in response, to retrieve the sensor data from the one or more FIFO queues.

Abstract translation: 描述了使用移动设备获取和批量传感器数据的方法和系统。 在一个示例中，提供了移动设备中的系统。 该系统包括一个或多个传感器，存储器，传感器处理器和主应用处理器。 传感器处理器被配置为使用基于间隔的一个或多个传感器来确定传感器数据，并将传感器数据存储到一个或多个先入先出（FIFO）队列中。 此外，如果移动设备的主应用处理器在一定时间内没有请求存储的传感器数据，则传感器处理器被配置为替换存储的传感器数据的至少一部分。 主应用处理器被配置为接收指示针对最近时间段的传感器数据的请求的数据，并且响应于从一个或多个FIFO队列检索传感器数据。