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公开(公告)号：US20220066047A1
公开(公告)日：2022-03-03
申请号：US17005135
申请日：2020-08-27
Applicant: Google LLC
Inventor： David William Earle Orendorff , Imad Jean Fattouch , Mohammed Khider , Frank van Diggelen , Kevin Watts
Abstract: A method of localization using bearing from environmental features includes receiving an estimated location of a global navigation satellite system (GNSS) receiver associated with a user and a corresponding bearing for the GNSS receiver. The method also includes identifying one or more environmental features about the estimated location of the GNSS receiver. The method further includes determining whether an orientation of a respective environmental feature of the one or more environmental features correlates to the corresponding bearing for the GNSS receiver. When the orientation of the respective environmental feature correlates to the corresponding bearing for the GNSS receiver, the method includes generating an updated bearing for the GNSS receiver or locational system that matches the orientation of the respective environmental feature.
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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：US10240995B2
公开(公告)日：2019-03-26
申请号：US14694240
申请日：2015-04-23
Applicant: Google LLC
Inventor： Etienne Le Grand , Mohammed Khider
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.
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公开(公告)号：US20190007800A1
公开(公告)日：2019-01-03
申请号：US16126905
申请日：2018-09-10
Applicant: GOOGLE LLC
Inventor： Etienne Le Grand , Mohammed Khider , Luigi Bruno
CPC classification number: H04W4/029 , G01C21/206 , H04W4/025 , H04W4/33
Abstract: Traces collected by multiple portable devices moving within a geographic area that includes an indoor region, each of the traces including measurements of wireless signals sources at different times by a same device, and at least some of the traces including pseudorange measurements related to distances to respective satellites. Location estimates for the portable devices and the signal sources are generated using graph-based SLAM optimization of the location estimates. More particularly, constraints for the pseudorange measurements are generated and applied for the pseudorange measurements in graph-based SLAM optimization.
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公开(公告)号：US11500110B2
公开(公告)日：2022-11-15
申请号：US17005135
申请日：2020-08-27
Applicant: Google LLC
Inventor： David William Earle Orendorff , Imad Jean Fattouch , Mohammed Khider , Frank van Diggelen , Kevin Watts
Abstract: A method of localization using bearing from environmental features includes receiving an estimated location of a global navigation satellite system (GNSS) receiver associated with a user and a corresponding bearing for the GNSS receiver. The method also includes identifying one or more environmental features about the estimated location of the GNSS receiver. The method further includes determining whether an orientation of a respective environmental feature of the one or more environmental features correlates to the corresponding bearing for the GNSS receiver. When the orientation of the respective environmental feature correlates to the corresponding bearing for the GNSS receiver, the method includes generating an updated bearing for the GNSS receiver or locational system that matches the orientation of the respective environmental feature.
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Patent Agency Ranking
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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7.发明申请公开(公告)号：US20180255431A1
公开(公告)日：2018-09-06
申请号：US15844384
申请日：2017-12-15
Applicant: GOOGLE LLC
Inventor： Patrick Robertson , Brian Williams , Maria Jesus Garcia Puyol , Etienne Le Grand , Mohammed Khider , Luigi Bruno
Abstract: Positioning mobile devices in a three-dimensional space includes receiving multiple traces, each trace corresponding to a sequence of atmospheric pressure readings from a respective mobile device, receiving indications of signals received by the mobile devices from signal sources concurrently with the atmospheric pressure readings, generate similarity metrics for the multiple traces using the indications of other signals received by the mobile devices, the similarity metrics being indicative of associations between the signal sources and the atmospheric pressure readings, and determine estimated changes in elevation over time for the multiple traces using the generated similarity metrics.
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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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公开(公告)号：US20200322753A1
公开(公告)日：2020-10-08
申请号：US16910017
申请日：2020-06-23
Applicant: GOOGLE LLC
Inventor： Patrick Robertson , Brian Williams , Maria Jesus Garcia Puyol , Etienne Le Grand , Mohammed Khider , Luigi Bruno
IPC: H04W4/02 , H04B17/318 , G01C5/06 , G01C21/08 , G01C21/00 , G01S11/06 , G01S5/02 , G01S19/46 , H04B17/27 , G01S19/45
Abstract: To calibrate a device, a system receives an indication of current weather conditions at a geographic area, obtains, from a database, elevation data for the geographic area, and generating expected measurements of atmospheric pressure at the geographic area using the indication of weather conditions and the elevation data for the geographic area. The system then causes at least one mobile device located in the geographic area and equipped with a barometer to calibrate the barometer using the expected measurements of atmospheric pressure.
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