公开(公告)号：US09581467B1

公开(公告)日：2017-02-28

申请号：US15154209

申请日：2016-05-13

Applicant: Google Inc.

Inventor： Mohammed Khider ,  Etienne Le Grand ,  Brian Williams ,  Patrick Robertson

IPC: H04W24/00 ,  G01D5/00 ,  H04W4/04 ,  G01S19/42

CPC classification number: H04W4/026 ,  G01C19/00 ,  G01C25/005 ,  G01D3/022 ,  G01D5/00 ,  G01S19/13 ,  G01S19/42 ,  H04W4/02 ,  H04W4/027 ,  H04W4/04

Abstract: A system includes one or more processors, and data storage configured to store instructions that, when executed by the one or more processors, cause the system to perform functions. In this example, the functions include receiving sensor data that is collected by one or more sensors of a device over one or more locations and over a time period. Further, in the present example, the functions also include determining location estimates of the device by performing filtering of the sensor data to determine offsets for a least one sensor providing sensor data. The filtering is an iterative process of filtering control input data to determine the sensor bias based on data from a second sensor of the at least two sensors and adjusting the set of sensor data based on the determined bias.

Abstract translation: 系统包括一个或多个处理器，以及数据存储器，被配置为存储当由一个或多个处理器执行时使系统执行功能的指令。 在该示例中，功能包括接收由一个或多个位置的一个或多个位置的一个或多个传感器收集的传感器数据，并且在一段时间内。 此外，在本示例中，功能还包括通过执行传感器数据的滤波来确定提供传感器数据的至少一个传感器的偏移来确定设备的位置估计。 所述滤波是对基于所述至少两个传感器的第二传感器的数据进行滤波控制输入数据以确定所述传感器偏置的迭代过程，并且基于所确定的偏差来调整所述传感器数据集合。

公开(公告)号：US09769620B1

公开(公告)日：2017-09-19

申请号：US15409890

申请日：2017-01-19

Applicant: Google Inc.

Inventor： Mohammed Khider ,  Brian Williams ,  Etienne Le Grand ,  Patrick Robertson

IPC: H04W24/00 ,  H04W4/02 ,  G01C19/00 ,  G01C25/00 ,  G01S19/13

CPC classification number: H04W4/026 ,  G01C19/00 ,  G01C25/005 ,  G01D3/022 ,  G01D5/00 ,  G01S19/13 ,  G01S19/42 ,  H04W4/02 ,  H04W4/027 ,  H04W4/04

Abstract: A system includes one or more processors, and data storage configured to store instructions that, when executed by the one or more processors, cause the system to perform functions. In this example, the functions include receiving sensor data that is collected by one or more sensors of a device over one or more locations and over a time period. Further, in the present example, the functions also include determining location estimates of the device by performing filtering of the sensor data to determine offsets for a least one sensor providing sensor data. The filtering is an iterative process of filtering control input data to determine the sensor bias based on data from a second sensor of the at least two sensors and adjusting the set of sensor data based on the determined bias.

公开(公告)号：US10075818B2

公开(公告)日：2018-09-11

申请号：US15703779

申请日：2017-09-13

Applicant: GOOGLE INC.

Inventor： Etienne Le Grand ,  Mohammed Khider ,  Luigi Bruno

IPC: H04W64/00 ,  H04W4/029 ,  H04W4/02 ,  H04W24/10 ,  H04W4/04

CPC classification number: H04W4/029 ,  G01C21/206 ,  H04W4/025 ,  H04W4/30 ,  H04W4/33 ,  H04W24/10

Abstract: Traces are collected by multiple portable devices moving with an area that includes an indoor region, with each of the traces including measurements of wireless signals at different times, including measurements of wireless signals from signal sources disposed within the area. A motion map for the geographic area is constructed by determining, for each of the cells that make the motion map, respective probabilities of moving in various directions relative to each cell. Location estimates for the portable devices and the signal sources are generated using graph-based SLAM optimization of the location estimates. The graph-based SLAM optimization includes determining to which of the cells of the motion map the location estimate corresponds and applying the measurements of wireless signals sources and the set of probabilities of the cells as a first constraint and a second constraint, respectively, in the graph-based SLAM optimization.

公开(公告)号：US20180077534A1

公开(公告)日：2018-03-15

申请号：US15703779

申请日：2017-09-13

Applicant: GOOGLE INC.

Inventor： Etienne Le Grand ,  Mohammed Khider ,  Luigi Bruno

IPC: H04W4/02 ,  H04W4/04 ,  H04W24/10

CPC classification number: H04W4/029 ,  H04W4/04 ,  H04W24/10

Abstract: Traces are collected by multiple portable devices moving with an area that includes an indoor region, with each of the traces including measurements of wireless signals at different times, including measurements of wireless signals from signal sources disposed within the area. A motion map for the geographic area is constructed by determining, for each of the cells that make the motion map, respective probabilities of moving in various directions relative to each cell. Location estimates for the portable devices and the signal sources are generated using graph-based SLAM optimization of the location estimates. The graph-based SLAM optimization includes determining to which of the cells of the motion map the location estimate corresponds and applying the measurements of wireless signals sources and the set of probabilities of the cells as a first constraint and a second constraint, respectively, in the graph-based SLAM optimization.

公开(公告)号：US20160033266A1

公开(公告)日：2016-02-04

申请号：US14694240

申请日：2015-04-23

Applicant: Google Inc.

Inventor： Etienne Le Grand ,  Mohammed Khider

IPC: G01B21/00 ,  G01L19/00 ,  G01S19/01

CPC classification number: G01L19/0092 ,  G01S5/0263 ,  G01S19/01 ,  G01S19/48

Abstract: A system includes one or more processors, and data storage configured to store instructions that, when executed by the one or more processors, cause the system to perform functions. In one example, the functions include receiving logs of data, wherein respective data in the received logs of data are collected by one or more sensors of a device over one or more locations and over a time period. In the present example, the functions also include determining location estimates of the device by performing a simultaneous localization and mapping (SLAM) optimization of the location estimates using barometer data and GPS elevational data available in the logs of data, wherein the location estimates indicate elevational locations of the device over the time period.

Abstract translation: 系统包括一个或多个处理器，以及数据存储器，被配置为存储当由一个或多个处理器执行时使系统执行功能的指令。 在一个示例中，功能包括接收数据的日志，其中数据的接收日志中的相应数据由设备的一个或多个传感器在一个或多个位置上以及一段时间段内收集。 在本示例中，功能还包括通过使用气压计数据和在数据日志中可用的GPS高程数据执行位置估计的同时定位和映射（SLAM）优化来确定设备的位置估计，其中位置估计指示高程 时间段内设备的位置。