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公开(公告)号：US09160980B2
公开(公告)日：2015-10-13
申请号：US13173261
申请日：2011-06-30
申请人： Lionel J. Garin
发明人： Lionel J. Garin
CPC分类号： H04N7/18 , G01C21/165 , G01C25/005 , G06T7/70 , G06T2207/10016 , G06T2207/30252
摘要： An apparatus and method to enhance dead-reckoning navigation using inertial sensor measurements based on images from a camera are disclosed. A camera build into a mobile device is used to calibrate inertial sensors and rotation matrices. Images from a camera may be used (1) to remove a gravitational element from accelerometer measurements; (2) to set a scaling factor and an offset for a gyrometer; and (3) to set initial and updated values for rotation matrices.
摘要翻译： 公开了一种使用基于来自相机的图像的惯性传感器测量来增强航位推算导航的装置和方法。 建立在移动设备中的相机用于校准惯性传感器和旋转矩阵。 可以使用相机的图像（1）从加速度计测量中去除重力元素; （2）设置陀螺仪的比例因子和偏移量; 和（3）设置旋转矩阵的初始值和更新值。
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2.发明授权公开(公告)号：US08260548B2
公开(公告)日：2012-09-04
申请号：US12847471
申请日：2010-07-30
IPC分类号： G01C21/00
CPC分类号： G01S19/06 , G01S1/00 , G01S19/09 , G01S19/24 , G01S19/258 , G01S19/26 , G01S19/42 , G06G7/78
摘要： A satellite based positioning method and system including storing satellite sub-almanac data on a mobile station. Embodiments include using the sub-almanac data to take measurements and calculate a coarse position of the mobile station. Embodiments further include a location server calculating a correction to the coarse position, and the location server determining whether any sub-almanacs used to calculate the coarse position require replacement.
摘要翻译： 一种基于卫星的定位方法和系统，包括在移动台上存储卫星子历史数据。 实施例包括使用子历书数据进行测量并计算移动站的粗略位置。 实施例还包括计算对粗略位置的校正的位置服务器，并且位置服务器确定用于计算粗略位置的任何子日历是否需要更换。
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公开(公告)号：US07142157B2
公开(公告)日：2006-11-28
申请号：US10941251
申请日：2004-09-14
CPC分类号： G01S19/27 , G01S19/05 , G01S19/20 , G01S19/258 , G01S19/51
摘要： Devices and methods are described for determining position information without broadcast ephemeris data for extended time periods. A server or client device receives or collects historical state data of satellites of a satellite-based positioning system and generates predictions of future satellite trajectories for future time periods. When a server generates the predictions, the predictions are subsequently transferred to a client device. The client device selects predictions appropriate to time of interest. The time can be any time during a period of at least seven calendar days. The client device reconstructs satellite states using information on the predictions and uses the reconstructed satellite states to acquire satellite signals as appropriate to the current location and time of the client device. The client device determines and/or tracks its position using information of the satellite states and timing information of the satellite signals.
摘要翻译： 描述了用于确定位置信息而不延长时间段的广播星历数据的装置和方法。 服务器或客户端设备接收或收集基于卫星的定位系统的卫星的历史状态数据，并且对将来的时间段的未来卫星轨迹产生预测。 当服务器生成预测时，预测将随后传送到客户端设备。 客户端设备选择适合于感兴趣时间的预测。 时间可以是至少七个日历日的任何时间。 客户端设备使用关于预测的信息来重构卫星状态，并且使用重建的卫星状态来适当地获取与客户端设备的当前位置和时间相关的卫星信号。 客户端设备使用卫星信号的信息和卫星信号的定时信息确定和/或跟踪其位置。
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4.发明授权公开(公告)号：US09341720B2
公开(公告)日：2016-05-17
申请号：US13173984
申请日：2011-06-30
申请人： Lionel J. Garin , Ayman Naquib , Charles A. Bergan
发明人： Lionel J. Garin , Ayman Naquib , Charles A. Bergan
CPC分类号： G01S19/235 , G01S19/49
摘要： An apparatus and method for estimating a position of a mobile device based on one or more images is disclosed. Positioning information is derived from an image containing an SAS (self-addressing source such as a QR code), thereby setting a first vector V1 and an SAS pose. The image is also used to determine a displacement between the mobile device and the self-addressing source, thereby setting a second vector V2. Using the first vector V1, the SAS pose and the second vector V2, the mobile device may estimate its position with high accuracy and may also recalibrate dead-reckoning navigation and a gyrometer.
摘要翻译： 公开了一种用于基于一个或多个图像来估计移动设备的位置的装置和方法。 从包含SAS（诸如QR码的自寻址源）的图像导出定位信息，由此设置第一矢量V1和SAS姿态。 该图像还用于确定移动设备和自寻址源之间的位移，由此设置第二向量V2。 使用第一矢量V1，SAS姿态和第二矢量V2，移动设备可以高精度地估计其位置，并且还可以重新校准推算导航和陀螺仪。
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公开(公告)号：US08818718B2
公开(公告)日：2014-08-26
申请号：US12848807
申请日：2010-08-02
申请人： Lionel J. Garin
发明人： Lionel J. Garin
CPC分类号： G01C21/20 , B60R11/0258 , B60R2011/0084 , B60R2011/0087 , G01C17/38 , G01C21/26
摘要： An apparatus and method for a personal navigation apparatus comprising a personal navigation device (PND) for providing navigational guidance information. The PND may include a single-dimensional magnetic detector for sensing magnetic flux amplitudes of a magnetic field generated by a magnet. Alternatively, the PND may include a three-dimensional magnetic detector and a magnetic calibration module for determining an ambient magnetic field calibration value representing immediate surroundings of the PND.
摘要翻译： 一种用于个人导航装置的装置和方法，包括用于提供导航指导信息的个人导航装置（PND）。 PND可以包括用于感测由磁体产生的磁场的磁通量幅度的单维磁检测器。 或者，PND可以包括三维磁性检测器和用于确定表示PND的即时环境的环境磁场校准值的磁性校准模块。
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公开(公告)号：US08116976B2
公开(公告)日：2012-02-14
申请号：US11835300
申请日：2007-08-07
申请人： Lionel J. Garin , Kurt C. Schmidt
发明人： Lionel J. Garin , Kurt C. Schmidt
IPC分类号： H04B7/185
CPC分类号： G01S19/06 , G01S1/00 , G01S19/09 , G01S19/24 , G01S19/258 , G01S19/26 , G01S19/42 , G06G7/78
摘要： A satellite based positioning method and system including storing satellite sub-almanac data on a mobile station. Embodiments include using the sub-almanac data to take measurements and calculate a coarse position of the mobile station. Embodiments further include a location server calculating a correction to the coarse position, and the location server determining whether any sub-almanacs used to calculate the coarse position require replacement.
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公开(公告)号：US20110178708A1
公开(公告)日：2011-07-21
申请号：US12689085
申请日：2010-01-18
申请人： Gengsheng Zhang , Lionel J. Garin
发明人： Gengsheng Zhang , Lionel J. Garin
CPC分类号： G01C21/165 , G01C25/005 , G06T7/70 , G06T2207/30244
摘要： The initialization of an inertial navigation system is performed using information obtained from an image of an object. Positional and orientational information about the object in a global reference frame and positional and orientational information about the camera relative to the object are obtained from the image. Positional and orientational information for the camera in the global reference frame is determined along with a transformation matrix between inertial sensor reference frame and a navigation coordinate frame. The inertial navigation system is initialized using the positional and orientational information for the camera, the transformation matrix and the velocity of the camera when the object was imaged, i.e., zero. Using the initialized data with measurements from the inertial sensors the position of the mobile platform may be updated during navigation and provided, e.g., on a digital map. Inertial navigation errors may be corrected using information obtained from images of different objects.
摘要翻译： 使用从对象的图像获得的信息来执行惯性导航系统的初始化。 从图像中获得关于全局参考帧中的对象的位置和取向信息以及关于相机相对于对象的位置和取向信息。 全局参考帧中相机的位置和方位信息与惯性传感器参考系和导航坐标系之间的变换矩阵一起确定。 惯性导航系统使用摄像机的位置和方位信息，变换矩阵和摄像机成像时的摄像机速度（即零）进行初始化。 使用来自惯性传感器的测量的初始化数据，可以在导航期间更新移动平台的位置，并且例如在数字地图上提供。 可以使用从不同对象的图像获得的信息来校正惯性导航错误。
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8.发明申请Resolving Transmit Time Uncertainty in Carrier Phase Relative Positioning 审中-公开解决载波相位相对定位中的发射时间不确定度公开(公告)号：US20100182195A1
公开(公告)日：2010-07-22
申请号：US12355610
申请日：2009-01-16
申请人： Lionel J. Garin
发明人： Lionel J. Garin
IPC分类号： G01S5/14
CPC分类号： G01S19/43 , G01S5/0284 , G01S19/04 , G01S19/37 , G01S19/54
摘要： Methods and apparatus are provided for use in electronic devices to perform carrier phase relative positioning processing.
摘要翻译： 提供了用于电子设备以执行载波相位相对定位处理的方法和装置。
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公开(公告)号：US07573422B2
公开(公告)日：2009-08-11
申请号：US10489525
申请日：2002-09-14
CPC分类号： G01S19/34
摘要： A power management system for managing power in a wireless device having a SPS receiver, communication device and a power source, the power management is described. The power management system may include a real-time clock, an input/output device, a radio frequency front-end and a SPS engine in signal communication with the real-time clock, input/output device and radio frequency front-end, the SPS engine capable of powering down itself, the input/output device and radio frequency front-end in response to determining a mode of operation.
摘要翻译： 一种用于在具有SPS接收机，通信设备和电源的无线设备中管理电力的电源管理系统，描述了电源管理。 电源管理系统可以包括与实时时钟，输入/输出设备和射频前端进行信号通信的实时时钟，输入/输出设备，射频前端和SPS引擎， 响应于确定操作模式，能够自己断电的SPS引擎，输入/输出设备和射频前端。
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公开(公告)号：US07403154B2
公开(公告)日：2008-07-22
申请号：US11563896
申请日：2006-11-28
IPC分类号： G01S5/02
CPC分类号： G01S19/27 , G01S19/05 , G01S19/20 , G01S19/258 , G01S19/51
摘要： Devices and methods are described for determining position information without broadcast ephemeris data for extended time periods. A server or client device receives or collects historical state data of satellites of a satellite-based positioning system and generates predictions of future satellite trajectories for future time periods. When a server generates the predictions, the predictions are subsequently transferred to a client device. The client device selects predictions appropriate to time of interest. The time can be any time during a period of at least seven calendar days. The client device reconstructs satellite states using information on the predictions and uses the reconstructed satellite states to acquire satellite signals as appropriate to the current location and time of the client device. The client device determines and/or tracks its position using information of the satellite states and timing information of the satellite signals.
摘要翻译： 描述了用于确定位置信息而不延长时间段的广播星历数据的装置和方法。 服务器或客户端设备接收或收集基于卫星的定位系统的卫星的历史状态数据，并且对将来的时间段的未来卫星轨迹产生预测。 当服务器生成预测时，预测将随后传送到客户端设备。 客户端设备选择适合于感兴趣时间的预测。 时间可以是至少七个日历日的任何时间。 客户端设备使用关于预测的信息来重构卫星状态，并且使用重建的卫星状态来适当地获取与客户端设备的当前位置和时间相关的卫星信号。 客户端设备使用卫星信号的信息和卫星信号的定时信息确定和/或跟踪其位置。
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