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公开(公告)号：WO2019232457A2
公开(公告)日：2019-12-05
申请号：PCT/US2019/035027
申请日：2019-05-31
Applicant: APPLE INC.
Inventor： BHATTI, Jahshan , SMITH, Brian Stephen , KONG, Wei
Abstract: Embodiments are disclosed for a feature-based simultaneous localization and mapping (SLAM) system and method that generates radio maps for environments that are not accessible for surveying. More accurate radio maps are generated for an unsurveyed environment by determining a best estimate of a mobile device state from harvested traced data that maximizes a posterior probability of the mobile device state given measurements, landmarks and loop constraints.
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公开(公告)号：WO2016053596A1
公开(公告)日：2016-04-07
申请号：PCT/US2015/049709
申请日：2015-09-11
Applicant: APPLE INC.
CPC classification number: B61L25/025 , B61L15/0027 , B61L27/0005 , G01C21/20 , G01S5/0252 , H04W4/02 , H04W4/046 , H04W64/00
Abstract: Methods, program products, and systems for building a location fingerprint database for a transit system are described. The transit system can be a subway system including underground train stations and routes where location determination using GPS signals is difficult or impossible. A sampling device can measure signals, e.g., radio frequency (RF) signals detected at the stations or on the routes. A location server can construct a location fingerprint for each of the stations and the routes. Each location fingerprint can represent expected signal measurements by a user device if the user device is located at the respective station or route. The location server can provide the location fingerprint to a user device for the user device to determine a location of the user device within the station or on the route.
Abstract translation: 描述了用于构建运输系统的位置指纹数据库的方法，程序产品和系统。 交通系统可以是包括地下火车站和使用GPS信号的位置确定困难或不可能的路线的地铁系统。 采样设备可以测量信号，例如在站点或路线上检测到的射频（RF）信号。 位置服务器可以为每个站点和路线构建位置指纹。 如果用户设备位于相应的站或路线，则每个位置指纹可以表示用户设备的预期信号测量。 位置服务器可以向用户设备提供位置指纹，以便用户设备确定站内或路线上的用户设备的位置。
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公开(公告)号：EP3149510A1
公开(公告)日：2017-04-05
申请号：EP15726853.3
申请日：2015-05-27
Applicant: Apple Inc.
Inventor： SMITH, Brian Stephen , MILLMAN, David Benjamin , MAYOR, Robert , LOVICH, Vitali
CPC classification number: H04W4/04 , G01S5/0252 , G01S5/0257 , G01S5/0294 , G01S19/48
Abstract: Methods, systems, and computer program product for location transition determination are described. A mobile device can use location fingerprint data and sensor readings to determine a transition of the mobile device into or out of a portion of a venue by using particle filters. When the mobile device determines that the mobile device is located at a first portion of the venue, e.g., on a given floor, the mobile device can introduce candidate locations, or particles, on a second portion of the venue and candidate locations outside of the venue. If estimated locations at the first portion of the venue do not converge, the mobile device can increase weight of the candidate locations that are outside of the first portion of the venue to detect possible transition to the second portion of the venue or to outside of the venue.
Abstract translation: 描述了用于位置转换确定的方法，系统和计算机程序产品。 移动设备可以使用位置指纹数据和传感器读数来通过使用粒子滤波器来确定移动设备进入或离开场地的一部分的过渡。 当移动设备确定移动设备位于场地的第一部分（例如，在给定的楼层上）时，移动设备可以将候选位置或粒子引入场地的第二部分以及在场外的候选位置 场地。 如果在场地的第一部分处的估计位置不会收敛，则移动设备可以增加在场地的第一部分之外的候选位置的权重，以检测到可能过渡到场地的第二部分或者到场外的 场地。
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公开(公告)号：EP3201646A1
公开(公告)日：2017-08-09
申请号：EP15767049.8
申请日：2015-09-11
Applicant: Apple Inc.
CPC classification number: H04W4/026 , B61L25/025 , B61L2205/04 , G01S5/0252 , G01S5/0278 , G06N7/005 , H04W4/027 , H04W4/029
Abstract: Methods, program products, and systems for using a location fingerprint database to determine a location of a mobile device are described. A mobile device can use location fingerprint data received from a server to determine a location of the mobile device at the venue. The mobile device can obtain, from a sensor of the mobile device, a vector of sensor readings, each sensor reading can measure an environment variable, e.g., a signal received by the sensor from a signal source. The mobile device can perform a statistical match between the vector and the location fingerprint data. The mobile device can then estimate a current location of the mobile device based on the statistical match.
Abstract translation: 描述了使用位置指纹数据库来确定移动设备的位置的方法，程序产品和系统。 移动设备可以使用从服务器接收的位置指纹数据来确定移动设备在场所处的位置。 移动设备可以从移动设备的传感器获得传感器读数的矢量，每个传感器读数可以测量环境变量，例如由传感器从信号源接收的信号。 移动设备可以执行矢量和位置指纹数据之间的统计匹配。 移动设备然后可以基于统计匹配来估计移动设备的当前位置。
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Patent Agency Ranking
公开(公告)号：WO2019232457A3
公开(公告)日：2019-12-05
申请号：PCT/US2019/035027
申请日：2019-05-31
Applicant: APPLE INC.
Inventor： BHATTI, Jahshan , SMITH, Brian Stephen , KONG, Wei
Abstract: Embodiments are disclosed for a feature-based simultaneous localization and mapping (SLAM) system and method that generates radio maps for environments that are not accessible for surveying. More accurate radio maps are generated for an unsurveyed environment by determining a best estimate of a mobile device state from harvested traced data that maximizes a posterior probability of the mobile device state given measurements, landmarks and loop constraints.
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公开(公告)号：WO2018222354A1
公开(公告)日：2018-12-06
申请号：PCT/US2018/031749
申请日：2018-05-09
Applicant: APPLE INC.
Inventor： BHATTI, Jahshan , MILLMAN, David Benjamin , SMITH, Brian Stephen , SINGH, Jasvinder
IPC: G01S5/02
CPC classification number: G01S5/0252 , G01C21/206 , G01S5/0263 , H04W4/025 , H04W4/029
Abstract: A method comprising: receiving a radio map of an indoor venue using survey data collected by a survey device positioned throughout the venue, the radio map including a boundary; receiving harvest data from a mobile device, wherein at least some of the harvest data are obtained by the mobile device while the mobile device is positioned at locations that are outside of the boundary; determining, based on the harvest data, a trajectory of the mobile device, wherein at least some of the trajectory resides outside of the boundary; identifying one or more locations on or proximate to the trajectory; and extending the radio map using the survey data and the one or more identified locations, wherein the extended radio map is defined at least in part by an extension of the boundary to encompass the one or more identified locations.
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公开(公告)号：WO2016053598A1
公开(公告)日：2016-04-07
申请号：PCT/US2015/049711
申请日：2015-09-11
Applicant: APPLE INC.
CPC classification number: H04W4/046 , G01S5/02 , G01S5/0252 , G01S5/0263 , H04L67/12 , H04W4/027 , H04W4/80 , H04W24/10 , H04W64/006
Abstract: Methods, program products, and systems for using multiple sensors to determine a location fingerprint are described. A sampling device can measure RF signals detected at a train station of a transit system or a route of the transit system. The sampling device, or a location server receiving the measurements, can filter RF signal measurements using one or more readings from sensors coupled to the sampling device and that are different from RF receivers. The readings can be taken concurrently with the RF signal measurements. These readings, designated as motion cues, can include motion sensor readings, barometer readings, or magnetometer readings. Using the motion cues, the sampling device or location server can distinguish different platforms of a station of the transit system and different levels of the station, or filter out RF signal measurements that may have been inaccurate, e.g., as caused by disturbances from a train entering or leaving a station.
Abstract translation: 描述了使用多个传感器来确定位置指纹的方法，程序产品和系统。 采样设备可以测量在交通系统的火车站或者交通系统的路线上检测到的RF信号。 采样设备或接收测量的位置服务器可以使用耦合到采样设备并且与RF接收器不同的传感器的一个或多个读数来过滤RF信号测量。 读数可以与RF信号测量同时进行。 指定为运动线索的这些读数可以包括运动传感器读数，气压计读数或磁力计读数。 使用运动线索，采样设备或定位服务器可以区分交通系统的车站和车站的不同级别的不同平台，或者滤除可能不准确的RF信号测量，例如，由于列车的干扰引起的 进出车站。
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公开(公告)号：WO2016053597A1
公开(公告)日：2016-04-07
申请号：PCT/US2015/049710
申请日：2015-09-11
Applicant: APPLE INC.
CPC classification number: H04W4/026 , B61L25/025 , B61L2205/04 , G01S5/0252 , G01S5/0278 , G06N7/005 , H04W4/027 , H04W4/029
Abstract: Methods, program products, and systems for using a location fingerprint database to determine a location of a mobile device are described. A mobile device can use location fingerprint data received from a server to determine a location of the mobile device at the venue. The mobile device can obtain, from a sensor of the mobile device, a vector of sensor readings, each sensor reading can measure an environment variable, e.g., a signal received by the sensor from a signal source. The mobile device can perform a statistical match between the vector and the location fingerprint data. The mobile device can then estimate a current location of the mobile device based on the statistical match.
Abstract translation: 描述了使用位置指纹数据库来确定移动设备的位置的方法，程序产品和系统。 移动设备可以使用从服务器接收的位置指纹数据来确定移动设备在场地的位置。 移动设备可以从移动设备的传感器获得传感器读数的向量，每个传感器读数可以测量环境变量，例如传感器从信号源接收到的信号。 移动设备可以执行向量和位置指纹数据之间的统计匹配。 然后，移动设备可以基于统计匹配来估计移动设备的当前位置。
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公开(公告)号：WO2015183998A1
公开(公告)日：2015-12-03
申请号：PCT/US2015/032733
申请日：2015-05-27
Applicant: APPLE INC.
Inventor： SMITH, Brian Stephen , MILLMAN, David Benjamin , MAYOR, Robert , LOVICH, Vitali
CPC classification number: H04W4/04 , G01S5/0252 , G01S5/0257 , G01S5/0294 , G01S19/48
Abstract: Methods, systems, and computer program product for location transition determination are described. A mobile device can use location fingerprint data and sensor readings to determine a transition of the mobile device into or out of a portion of a venue by using particle filters. When the mobile device determines that the mobile device is located at a first portion of the venue, e.g., on a given floor, the mobile device can introduce candidate locations, or particles, on a second portion of the venue and candidate locations outside of the venue. If estimated locations at the first portion of the venue do not converge, the mobile device can increase weight of the candidate locations that are outside of the first portion of the venue to detect possible transition to the second portion of the venue or to outside of the venue.
Abstract translation: 描述了用于位置转换确定的方法，系统和计算机程序产品。 移动设备可以使用位置指纹数据和传感器读数来通过使用粒子滤波器来确定移动设备进入或离开场地的一部分的过渡。 当移动设备确定移动设备位于场地的第一部分时，例如，在给定的楼层上，移动设备可以将候选位置或粒子引入场地的第二部分和在场外的候选位置 场地。 如果在场地的第一部分处的估计位置不会收敛，则移动设备可以增加在场地的第一部分之外的候选位置的权重，以检测到可能过渡到场地的第二部分或者在场外的外部 场地。
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