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公开(公告)号：US20240077583A1
公开(公告)日：2024-03-07
申请号：US18460309
申请日：2023-09-01
申请人： Apple Inc.
发明人： Harsha Shirahatti , Sujeet Milind Patole , Jouya Jadidian , Mikheil Tsiklauri , Shun Liu , Vaneet Pathak , Lei Wang , Kumar Gaurav Chhokra
摘要： An electronic device may utilize various methods or systems to determine whether the electronic device is indoors or outdoors. The electronic device transmits wireless signals (e.g., radio detection and ranging (RADAR) signals). The electronic device receives reflections of the wireless signals. Using these received reflections of the wireless signals, the electronic device determines whether a power amplitude of the reflections is greater than or equal to a threshold value. In response to a determination that the power amplitude is not greater than or equal to the threshold value, the electronic device operates in an outdoor mode or an indoor mode.
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公开(公告)号：US20210144786A1
公开(公告)日：2021-05-13
申请号：US17156107
申请日：2021-01-22
申请人： Apple Inc.
发明人： Bradley Joel Jensen , Glenn Donald MacGougan , Kumar Gaurav Chhokra , Robert Mayor , Ronald K. Huang , Stephen J. Rhee
摘要： Techniques for location source control for paired devices are described. Location source control selects a location source for a mobile device. The mobile device can receive, from an application program, a request for determining a location of the mobile device. The mobile device can determine a first location estimate using a location subsystem of the mobile device. The mobile device can determine whether to provide the first location estimate as input to the application program, or to provide a second location estimate as input to the application program. The second location estimate can be an estimated location of the companion device and determined by the companion device.
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公开(公告)号：US10939486B2
公开(公告)日：2021-03-02
申请号：US15275236
申请日：2016-09-23
申请人： Apple Inc.
发明人： Bradley Joel Jensen , Glenn Donald MacGougan , Kumar Gaurav Chhokra , Robert Mayor , Ronald K. Huang , Stephen J. Rhee
摘要： Techniques for location source control for paired devices are described. Location source control selects a location source for a mobile device. The mobile device can receive, from an application program, a request for determining a location of the mobile device. The mobile device can determine a first location estimate using a location subsystem of the mobile device. The mobile device can determine whether to provide the first location estimate as input to the application program, or to provide a second location estimate as input to the application program. The second location estimate can be an estimated location of the companion device and determined by the companion device.
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4.发明授权公开(公告)号：US10802157B2
公开(公告)日：2020-10-13
申请号：US15719470
申请日：2017-09-28
申请人： Apple Inc.
摘要： The disclosed embodiments use 3D city models and shadow mapping to improve altitude fixes in urban environments. In an embodiment, a method comprises: generating a set of three-dimensional (3D) candidate positions in a geographic area of interest; predicting global navigation satellite system (GNSS) signal visibility at selected ones of the 3D candidate positions; receiving GNSS signals at a current location of the mobile device; determining observed satellite visibility based on the received GNSS signals; comparing the predicted satellite visibility with the observed satellite visibility; determining a position fix based on a result of the comparing; determining an indoor environment where the mobile device is located based at least on an altitude component of the position fix; obtaining structural data for the identified indoor environment; and determining a floor lower bound for the current location of the mobile device based on the altitude component and the structural data.
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5.发明申请公开(公告)号：US20190094379A1
公开(公告)日：2019-03-28
申请号：US15719470
申请日：2017-09-28
申请人： Apple Inc.
摘要： The disclosed embodiments use 3D city models and shadow mapping to improve altitude fixes in urban environments. In an embodiment, a method comprises: generating a set of three-dimensional (3D) candidate positions in a geographic area of interest; predicting global navigation satellite system (GNSS) signal visibility at selected ones of the 3D candidate positions; receiving GNSS signals at a current location of the mobile device; determining observed satellite visibility based on the received GNSS signals; comparing the predicted satellite visibility with the observed satellite visibility; determining a position fix based on a result of the comparing; determining an indoor environment where the mobile device is located based at least on an altitude component of the position fix; obtaining structural data for the identified indoor environment; and determining a floor lower bound for the current location of the mobile device based on the altitude component and the structural data.
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公开(公告)号：US09817102B1
公开(公告)日：2017-11-14
申请号：US15179889
申请日：2016-06-10
申请人： Apple Inc.
CPC分类号： G01S5/0263 , G01S5/021 , G01S19/13 , H04W4/02
摘要： Methods, systems and computer program products for determining and filtering potential outliers in RF signals used in radionavigation are described. A radionavigation subsystem of a mobile device can determine a first location estimate of the mobile device. The mobile device can determine a free direction from the first location estimate. The free direction can be a direction along which RF signals may cause greater position errors than RF signals from other directions may cause. The mobile device can determine a potential outlier among the received RF signals, the potential outlier being an RF signal from a signal source in the free direction. The mobile device can indicate to the radionavigation subsystem that a weight of the potential outlier shall be reduced when determining a second location estimate of the mobile device using the RF signals.
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公开(公告)号：US20170068001A1
公开(公告)日：2017-03-09
申请号：US14848241
申请日：2015-09-08
申请人： Apple Inc.
摘要： Techniques for GNSS positioning using three-dimensional (3D) building models are described. A processor can determine a probable path for a signal from a GNSS space vehicle (e.g., a satellite) to reach the GNSS receiver. The probable path can include one or more specular reflections. The processor can determine a Doppler correction based on the probable path, including inverting a sense of a vector of the Doppler correction for each reflection. The processor can then incorporate the Doppler correction in an estimated velocity of the mobile device, an estimated position of the mobile device, or both.
摘要翻译： 描述了使用三维（3D）建筑模型进行GNSS定位的技术。 处理器可以确定来自GNSS空间车辆（例如，卫星）的信号到达GNSS接收机的可能路径。 可能的路径可以包括一个或多个镜面反射。 处理器可以基于可能的路径确定多普勒校正，包括反转用于每次反射的多普勒校正的矢量的感测。 然后，处理器可以以移动设备的估计速度，移动设备的估计位置或二者结合多普勒校正。
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公开(公告)号：US20170067999A1
公开(公告)日：2017-03-09
申请号：US14848234
申请日：2015-09-08
申请人： Apple Inc.
IPC分类号： G01S19/12
CPC分类号： G01S19/12 , G01S19/39 , G01S19/42 , G01S19/428 , G01S19/52
摘要： Techniques for GNSS positioning using three-dimensional (3D) building models are described. A processor of a mobile device can determine a lower bound of uncertainty for an estimated position of the mobile device. The processor can receive an estimated position from a GNSS receiver of the mobile device. The processor can acquire geographic feature data including 3D building models of buildings and other geographic features that are located near the estimated position and may reflect GNSS signals. The processor can then determine a lower bound of uncertainty of the estimated position, regardless of an estimated uncertainty provided by a GNSS estimator. The lower bound can be higher (e.g., have a greater error margin) than the uncertainty value provided by the GNSS estimator. The processor can then present the estimated position, in association with an error margin corresponding to the lower bound of uncertainty, on a map user interface of the mobile device.
摘要翻译： 描述了使用三维（3D）建筑模型进行GNSS定位的技术。 移动设备的处理器可以确定移动设备的估计位置的不确定性的下限。 处理器可以从移动设备的GNSS接收器接收估计的位置。 处理器可以获取地理特征数据，包括建筑物的3D建筑模型和位于估计位置附近的其他地理特征，并且可以反映GNSS信号。 然后，处理器可以确定估计位置的不确定性的下限，而不管由GNSS估计器提供的估计的不确定性。 下限可以比由GNSS估计器提供的不确定性值更高（例如，具有更大的误差容限）。 然后处理器可以在移动设备的地图用户界面上呈现与相应于不确定性的较低界限的误差边界相关联的估计位置。
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公开(公告)号：US20220035001A1
公开(公告)日：2022-02-03
申请号：US16941810
申请日：2020-07-29
申请人： Apple Inc.
发明人： Harsha Shirahatti , Sujeet Milind Patole , Jouya Jadidian , Mikheil Tsiklauri , Shun Liu , Vaneet Pathak , Lei Wang , Kumar Gaurav Chhokra
摘要： An electronic device may utilize various methods or systems to determine whether the electronic device is indoors or outdoors. The electronic device transmits wireless signals (e.g., radio detection and ranging (RADAR) signals). The electronic device receives reflections of the wireless signals. Using these received reflections of the wireless signals, the electronic device determines whether a power amplitude of the reflections is greater than or equal to a threshold value. In response to a determination that the power amplitude is not greater than or equal to the threshold value, the electronic device operates in an outdoor mode or an indoor mode.
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公开(公告)号：US10171946B2
公开(公告)日：2019-01-01
申请号：US15275133
申请日：2016-09-23
申请人： Apple Inc.
IPC分类号： H04W4/02 , H04B1/3827 , H04W4/029
摘要： Systems, methods, devices and computer-readable storage mediums are disclosed for assisted GNSS velocity estimation. In an implementation, a method comprises: obtaining, by a mobile device, a step-based speed measurement based on sensor data; obtaining, by the mobile device, a step-based speed uncertainty associated with the step-based speed measurement; determining, by the mobile device, that one or more assistance conditions are met; responsive to the determining, assisting a state estimator using the step-based speed measurement and the associated step-based speed uncertainty; and estimating at least one of the position, velocity or speed of the mobile device using the assisted state estimator.
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