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公开(公告)号：US20200348423A1
公开(公告)日：2020-11-05
申请号：US16583149
申请日：2019-09-25
Applicant: Apple Inc.
Inventor： Hyojoon BAE , Isaac T. MILLER , Robert W. MAYOR
Abstract: A device implementing a system for estimating device location includes at least one processor configured to receive a first estimated position of the device at a first time. The at least one processor is further configured to capture, using an image sensor of the device, images during a time period defined by the first time and a second time, and determine, based on the images, a second estimated position of the device, the second estimated position being relative to the first estimated position. The at least one processor is further configured to receive a third estimated position of the device at the second time, and estimate a location of the device based on the second estimated position and the third estimated position.
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公开(公告)号：US20230393285A1
公开(公告)日：2023-12-07
申请号：US18102067
申请日：2023-01-26
Applicant: Apple Inc.
Inventor： Mark G. PETOVELLO , Qutub Salman SYED , Mojtaba BAHRAMI , Isaac T. MILLER
Abstract: In accordance with one or more implementations, a method includes receiving, with an electronic device, a first satellite signal and a second satellite signal and determining whether the first satellite signal is LOS. The determining is based on a signal strength of the first satellite signal. The method also includes determining whether the second satellite signal is non-LOS. The determining is based on a signal strength of the second satellite signal. The method further includes estimating a location of the electronic device based on the first satellite signal and the second satellite signal in response to determining that the first satellite signal is LOS and that the second satellite signal is non-LOS.
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公开(公告)号：US20200348143A1
公开(公告)日：2020-11-05
申请号：US16583195
申请日：2019-09-25
Applicant: Apple Inc.
Inventor： Saurabh GODHA , Hyojoon BAE , Isaac T. MILLER , Robert W. MAYOR
Abstract: A device implementing a system for estimating device orientation includes at least one processor configured to obtain a first estimate for a heading of a device, the first estimate being based on output from a magnetometer of the device. The at least one processor is further configured to capture image data using an image sensor of the device, and determine at least one second estimate of the heading based on correlating the image data with mapping data. The at least one processor is further configured to determine a bias associated with output of the magnetometer based on the first estimate and the at least one second estimate, and adjusting output of the magnetometer based on the determined bias.
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公开(公告)号：US20230314624A1
公开(公告)日：2023-10-05
申请号：US18208244
申请日：2023-06-09
Applicant: Apple Inc.
Inventor： Isaac T. MILLER , Mark G. PETOVELLO
CPC classification number: G01S19/393 , G01S19/43 , G01S19/49
Abstract: A device implementing a system for device orientation initialization includes at least one processor configured to determine that the device is within or coupled to a vehicle in motion. The at least one processor is configured to employ, in response to the determining, a first position estimation model to estimate a position of the device, and detect occurrence of a predefined condition with respect to employing the first position estimation model. The at least one processor is further configured to switch, in response to detecting occurrence of the predefined condition, from employing the first position estimation model to employing a second position estimation model to estimate the position of the device. The first and second position estimation model apply different respective error state metrics in estimating the position of the device.
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公开(公告)号：US20220137237A1
公开(公告)日：2022-05-05
申请号：US17578446
申请日：2022-01-19
Applicant: Apple Inc.
Inventor： Hyojoon BAE , Isaac T. MILLER , Robert W. MAYOR
Abstract: A device implementing a system for estimating device location includes at least one processor configured to receive a first estimated position of the device at a first time. The at least one processor is further configured to capture, using an image sensor of the device, images during a time period defined by the first time and a second time, and determine, based on the images, a second estimated position of the device, the second estimated position being relative to the first estimated position. The at least one processor is further configured to receive a third estimated position of the device at the second time, and estimate a location of the device based on the second estimated position and the third estimated position.
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Patent Agency Ranking
公开(公告)号：US20190078895A1
公开(公告)日：2019-03-14
申请号：US15853510
申请日：2017-12-22
Applicant: Apple Inc.
Inventor： Changlin MA , Isaac T. MILLER
IPC: G01C21/16 , B60G17/016 , B60R21/0132 , G01C21/28 , G01S19/31
Abstract: A device implementing a system for estimating device location includes at least one processor configured to receive a first and second set of signals, each set corresponding to location data and being received based on a sampling interval. The at least one processor is configured to, for each sampling period defined by the sampling interval, obtain sensor data corresponding to device motion during the sampling period, determine an orientation of the device relative to that of the vehicle based on the sensor data, calculate a non-holonomic constraint based on the orientation of the device relative to that of the vehicle such that the non-holonomic constraint is iteratively updated, and estimate a device state based on the non-holonomic constraint.
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公开(公告)号：US20230114527A1
公开(公告)日：2023-04-13
申请号：US18070395
申请日：2022-11-28
Applicant: Apple Inc.
Inventor： Mark G. PETOVELLO , Isaac T. MILLER , Kenneth M. PESYNA, JR.
Abstract: A device implementing a system for estimating device position includes at least one processor configured to receive a first sensor measurement of a device at a first time, the first sensor measurement having a first variance in measurement error, and to receive a second sensor measurement of the device at a second time, the second sensor measurement having a second variance in measurement error. The at least one processor is further configured to determine a speed of the device based on at least one of the first or second sensor measurements, and adjust the second variance in measurement error based on the determined speed. The at least one processor is further configured to estimate a device position based at least in part on the first variance in measurement error and the adjusted second variance in measurement error.
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公开(公告)号：US20210080594A1
公开(公告)日：2021-03-18
申请号：US16865203
申请日：2020-05-01
Applicant: Apple Inc.
Inventor： Mark G. PETOVELLO , Isaac T. MILLER , Kenneth M. PESYNA, JR.
Abstract: A device implementing a system for estimating device position includes at least one processor configured to receive a first sensor measurement of a device at a first time, the first sensor measurement having a first variance in measurement error, and to receive a second sensor measurement of the device at a second time, the second sensor measurement having a second variance in measurement error. The at least one processor is further configured to determine a speed of the device based on at least one of the first or second sensor measurements, and adjust the second variance in measurement error based on the determined speed. The at least one processor is further configured to estimate a device position based at least in part on the first variance in measurement error and the adjusted second variance in measurement error.
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公开(公告)号：US20210048541A1
公开(公告)日：2021-02-18
申请号：US16712890
申请日：2019-12-12
Applicant: Apple Inc.
Inventor： Isaac T. MILLER , Mark G. PETOVELLO
Abstract: A device implementing a system for device orientation initialization includes at least one processor configured to determine that the device is within or coupled to a vehicle in motion. The at least one processor is configured to employ, in response to the determining, a first position estimation model to estimate a position of the device, and detect occurrence of a predefined condition with respect to employing the first position estimation model. The at least one processor is further configured to switch, in response to detecting occurrence of the predefined condition, from employing the first position estimation model to employing a second position estimation model to estimate the position of the device. The first and second position estimation model apply different respective error state metrics in estimating the position of the device.
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公开(公告)号：US20200340814A1
公开(公告)日：2020-10-29
申请号：US16924104
申请日：2020-07-08
Applicant: Apple Inc.
Inventor： Changlin MA , Isaac T. MILLER
IPC: G01C21/16 , B60G17/016 , B60R21/0132 , G01S19/31 , G01C21/28 , G01S19/39 , G01S19/50
Abstract: A device implementing a system for estimating device location includes at least one processor configured to receive a first and second set of signals, each set corresponding to location data and being received based on a sampling interval. The at least one processor is configured to, for each sampling period defined by the sampling interval, obtain sensor data corresponding to device motion during the sampling period, determine an orientation of the device relative to that of the vehicle based on the sensor data, calculate a non-holonomic constraint based on the orientation of the device relative to that of the vehicle such that the non-holonomic constraint is iteratively updated, and estimate a device state based on the non-holonomic constraint.
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