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公开(公告)号：US10859713B2
公开(公告)日：2020-12-08
申请号：US15665243
申请日：2017-07-31
Applicant: QUALCOMM Incorporated
Inventor： Urs Niesen , Jubin Jose , Lei Zhang
IPC: G01S19/47 , G01S19/48 , G01C22/00 , H04B1/3827 , H04B1/3822 , G06T7/73 , G01C21/36 , H04N7/18 , G01S19/49
Abstract: Techniques provided herein are directed toward virtually extending an updated set of output positions of a mobile device determined by a VIO by combining a current set of VIO output positions with one or more previous sets of VIO output positions in such a way that ensure all outputs positions among the various combined sets of output positions are consistent. The combined sets can be used for accurate position determination of the mobile device. Moreover, the position determination further may be based on GNSS measurements.
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公开(公告)号：US10536805B2
公开(公告)日：2020-01-14
申请号：US16200390
申请日：2018-11-26
Applicant: QUALCOMM Incorporated
Inventor： Venkatesan Nallampatti Ekambaram , Urs Niesen , Jubin Jose , Xinzhou Wu
Abstract: A range between a first wireless device and a second wireless device is estimated using a first mechanism based on messages transmitted over a first communication channel. The first communication channel is associated with a first radio access technology capability of the wireless devices. One or more metrics indicative of an accuracy of the range estimates provided by the first mechanism are obtained. A second mechanism to estimate a range between the first wireless device and the second wireless device may be implemented in favor of the first mechanism when the metric fails to satisfy a criterion. The second mechanism is based on unicast messages transmitted over a second communication channel. The second communication channel is associated with a second radio access technology capability of the wireless devices and may be the same as, or different from, the first communication channel.
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公开(公告)号：US20190163198A1
公开(公告)日：2019-05-30
申请号：US15826567
申请日：2017-11-29
Applicant: QUALCOMM Incorporated
Inventor： Urs Niesen
Abstract: Various embodiments disclose a device with one or more processors which may be configured to translate a radio detection and ranging (RADAR) reference depth map into depth information in at least one image plane of at least one camera, to form a three-dimensional RADAR depth image. The 3D RADAR depth image includes a depth estimate of each pixel. The one or more processors may also be configured to initialize a RADAR-aided visual inertial odometer based on the depth estimates from the RADAR reference depth image to track the device position.
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公开(公告)号：US10274607B2
公开(公告)日：2019-04-30
申请号：US15264460
申请日：2016-09-13
Applicant: QUALCOMM Incorporated
Inventor： Urs Niesen , Lionel Jacques Garin , Jubin Jose
Abstract: Determining a position of a device using a signal received from a reference emitter includes: receiving the signal; determining a state of a first filter, the state of the first filter including a first carrier phase ambiguity estimate that includes a floating value; determining a state of a second filter, the state of the second filter including a second carrier phase ambiguity estimate that includes a fixed value; determining whether the state of the second filter is consistent with one other filter state or measurement; maintaining the state of the second filter in response to the device determining that the state of the second filter is consistent with the other filter state; changing the state of the second filter to the state of the first filter in response to the device determining that the state of the second filter is not consistent with the other filter state.
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Patent Agency Ranking
公开(公告)号：US20180335525A1
公开(公告)日：2018-11-22
申请号：US15599712
申请日：2017-05-19
Applicant: QUALCOMM Incorporated
Inventor： Urs Niesen , Arvind Ramanandan
Abstract: Techniques provided herein are directed toward using a camera, such as a forward-facing camera, to identify non-line-of-sight (NLoS) satellites in a satellite positioning system. In particular, successive images captured by the camera of the vehicle can be used to create a three-dimensional (3-D) skyline model of one or more objects that may be obstructing the view of a satellite (from the perspective of the vehicle). Accordingly, this allows for the determination of NLoS satellites and exclusion of data from the NLoS satellites in the determination of the location of the vehicle. Techniques may further include providing the determined location of the vehicle.
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公开(公告)号：US10132933B2
公开(公告)日：2018-11-20
申请号：US15014004
申请日：2016-02-02
Applicant: QUALCOMM Incorporated
Inventor： Venkatesan Nallampatti Ekambaram , Jubin Jose , Urs Niesen , Xinzhou Wu , Lionel Jacques Garin
Abstract: A method for aligning visual-inertial odometry (VIO) and satellite positioning system (SPS) reference frames includes obtaining a plurality of range-rate measurements of a mobile platform from an SPS. The range-rate measurements are with respect to a global reference frame of the SPS. The method also includes obtaining a plurality of VIO velocity measurements of the mobile platform from a VIO system. The VIO velocity measurements are with respect to a local reference frame of the VIO system. At least one orientation parameter is then determined to align the local reference frame with the global reference frame based on the range-rate measurements and the VIO velocity measurements.
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公开(公告)号：US20180188382A1
公开(公告)日：2018-07-05
申请号：US15665228
申请日：2017-07-31
Applicant: QUALCOMM Incorporated
Inventor： Jubin Jose , Lei Zhang , Urs Niesen
CPC classification number: G01S19/47 , G01C21/20 , G01S19/27 , G01S19/39 , G01S19/46 , G01S19/49 , G05D1/0268 , G05D1/0278
Abstract: Techniques provided herein are directed toward selecting GNSS measurements to greatly improve the position accuracy while keeping the complexity bounded. Specifically, only subset of available GNSS measurements in a window of time is selected for outlier rejection and estimation algorithms, where GNSS measurements are selected such that corresponding measurement locations are spaced with at least a minimum distance.
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公开(公告)号：US20180188381A1
公开(公告)日：2018-07-05
申请号：US15663553
申请日：2017-07-28
Applicant: QUALCOMM Incorporated
Inventor： Lei Zhang , Jubin Jose , Urs Niesen
CPC classification number: G01S19/47 , G01S19/48 , G01S19/49 , H04W4/02 , H04W4/021 , H04W4/029 , H04W4/40
Abstract: Techniques provided herein are directed toward reducing inaccuracies in a fused GNSS/VIO output by comparing GNSS/VIO position candidates with an estimated position based on VIO propagation or other motion detection. If, for a given GNSS epoch, none of the position candidates are within a threshold distance of the estimated position, the estimated position is used as the determined position for the epoch. In some embodiments, least some of the GNSS measurements used in determining the position candidates may be removed for subsequent outlier rejection and position estimation.
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公开(公告)号：US20170031032A1
公开(公告)日：2017-02-02
申请号：US15078862
申请日：2016-03-23
Applicant: QUALCOMM Incorporated
Inventor： Lionel Jacques Garin , Xinzhou Wu , Jubin Jose , Urs Niesen , Venkatesan Nallampatti Ekambaram
Abstract: Disclosed embodiments pertain to a method on a UE may comprise determining a first absolute position of the UE at a first time based on GNSS measurements from a set of satellites. At a second time subsequent to the first time, the UE may determine a first estimate of displacement of the UE relative to the first absolute position using non-GNSS measurements. Further, at the second time, the UE may also determine a second estimate of displacement relative to the first absolute position and/or a second absolute position of the UE based, in part, on: the GNSS carrier phase measurements at the first time from the set of satellites, and GNSS carrier phase measurements at the second time from a subset comprising two or more satellites of the set of satellites, and the first estimate of displacement of the UE.
Abstract translation: 公开的实施例涉及一种在UE上的方法可以包括基于来自一组卫星的GNSS测量来确定UE在第一时间的第一绝对位置。 在第一次之后的第二时间，UE可以使用非GNSS测量来确定UE相对于第一绝对位置的位移的第一估计。 此外，在第二时间，UE还可以部分地基于以下来确定相对于UE的第一绝对位置和/或第二绝对位置的位移的第二估计：第一时间的GNSS载波相位测量 所述卫星组以及来自包括卫星组的两个或更多个卫星的子集的第二时间的GNSS载波相位测量以及UE的位移的第一估计。
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