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公开(公告)号：US20220066040A1
公开(公告)日：2022-03-03
申请号：US17008897
申请日：2020-09-01
Applicant: Google LLC
Inventor： Imad Jean Fattouch , Arastoo Zabolestani Moradi , Frank Van Diggelen , Zifei Tong , Mohammed Khider , Stefano Maggiolo , David Orendorff
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.
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公开(公告)号：US10564288B2
公开(公告)日：2020-02-18
申请号：US15370240
申请日：2016-12-06
Applicant: GOOGLE LLC
Inventor： Frank Van Diggelen , Ke Xiao , Gustavo Moura , Wyatt Riley
Abstract: In a method for accurately estimating gait characteristics of a user, first parameters indicative of user movement, including a GNSS-derived speed and step count, are monitored. Values of the first parameters are processed to determine values of second parameters indicative of movement of the user. The processing includes applying, as inputs to an estimator (e.g., Kalman filter) having the second parameters as estimator states, values of at least one of the first parameters and/or values of at least one parameter derived from one or more of the first parameters. At least two of the second parameters are collectively indicative of a mapping between step frequency and step length of the user. A graphical user interface may display values of at least one of the second parameters, and/or at least one parameter derived from one or more of the second parameters.
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公开(公告)号：US20220066041A1
公开(公告)日：2022-03-03
申请号：US17018050
申请日：2020-09-11
Applicant: Google LLC
Inventor： Mohammed Khider , Frank Van Diggelen , Imad Fattouch , Zifei Tong , David Orendorff , Arastoo Zabolestani Moradi , Kevin Watts , Guoyu Fu
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.
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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
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.
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Patent Agency Ranking
公开(公告)号：US20220035042A1
公开(公告)日：2022-02-03
申请号：US17504855
申请日：2021-10-19
Applicant: GOOGLE LLC
Inventor： Frank Van Diggelen , Ke Xiao , Gustavo Moura , Wyatt Riley
Abstract: In a method for accurately estimating gait characteristics of a user, first parameters indicative of user movement, including a GNSS-derived speed and step count, are monitored. Values of the first parameters are processed to determine values of second parameters indicative of movement of the user. The processing includes using values of at least one monitored parameter to generate one or more inputs to an estimator (e.g., Kalman filter) having the second parameters as estimator states. At least two of the second parameters are collectively indicative of a mapping between step frequency and step length of the user. A graphical user interface may display values of at least one of the second parameters, and/or at least one parameter derived from one or more of the second parameters.
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公开(公告)号：US11175409B2
公开(公告)日：2021-11-16
申请号：US16729933
申请日：2019-12-30
Applicant: GOOGLE LLC
Inventor： Frank Van Diggelen , Ke Xiao , Gustavo Moura , Wyatt Riley
Abstract: In a method for accurately estimating gait characteristics of a user, first parameters indicative of user movement, including a GNSS-derived speed and step count, are monitored. Values of the first parameters are processed to determine values of second parameters indicative of movement of the user. The processing includes using values of at least one monitored parameter to generate one or more inputs to an estimator (e.g., Kalman filter) having the second parameters as estimator states. At least two of the second parameters are collectively indicative of a mapping between step frequency and step length of the user. A graphical user interface may display values of at least one of the second parameters, and/or at least one parameter derived from one or more of the second parameters.
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公开(公告)号：US11874381B2
公开(公告)日：2024-01-16
申请号：US17504855
申请日：2021-10-19
Applicant: GOOGLE LLC
Inventor： Frank Van Diggelen , Ke Xiao , Gustavo Moura , Wyatt Riley
Abstract: In a method for accurately estimating gait characteristics of a user, first parameters indicative of user movement, including a GNSS-derived speed and step count, are monitored. Values of the first parameters are processed to determine values of second parameters indicative of movement of the user. The processing includes using values of at least one monitored parameter to generate one or more inputs to an estimator (e.g., Kalman filter) having the second parameters as estimator states. At least two of the second parameters are collectively indicative of a mapping between step frequency and step length of the user. A graphical user interface may display values of at least one of the second parameters, and/or at least one parameter derived from one or more of the second parameters.
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公开(公告)号：US11598881B2
公开(公告)日：2023-03-07
申请号：US17018050
申请日：2020-09-11
Applicant: Google LLC
Inventor： Mohammed Khider , Frank Van Diggelen , Imad Fattouch , Zifei Tong , David Orendorff , Arastoo Zabolestani Moradi , Kevin Watts , Guoyu Fu
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.
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公开(公告)号：US11531118B2
公开(公告)日：2022-12-20
申请号：US17008897
申请日：2020-09-01
Applicant: Google LLC
Inventor： Imad Jean Fattouch , Arastoo Zabolestani Moradi , Frank Van Diggelen , Zifei Tong , Mohammed Khider , Stefano Maggiolo , David Orendorff
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.
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