Decomposition of error components between angular, forward, and sideways errors in estimated positions of a computing device

Patent metadata

Field	Value
Publication number	US-10697797-B2
Application number	US-201816228425-A
Country	US
Kind code	B2
Filing date	Dec 20, 2018
Priority date	Feb 10, 2014
Publication date	Jun 30, 2020
Grant date	Jun 30, 2020

Abstract

Examples include systems and methods for decomposition of error components between angular, forward, and sideways errors in estimated positions of a computing device. One method includes determining an estimation of a current position of the computing device based on a previous position of the computing device, an estimated speed over an elapsed time, and a direction of travel of the computing device, determining a forward, sideways, and orientation change error component of the estimation of the current position of the computing device, determining a weight to apply to the forward, sideways, and orientation change error components based on average observed movement of the computing device, and using the weighted forward, sideways, and orientation change error components as constraints for determination of an updated estimation of the current position of the computing device.

First claim

What is claimed is:

1. A method performed by one or more processors executing instructions stored in memory, comprising:
determining an estimation of a current position of a computing device;
projecting the current position of the computing device from a previous position of the computing device to generate a projection of the current position of the computing device;
determining an error component of the estimation of the current position of the computing device based on a comparison of the estimation of the current position of the computing device with the projection of the current position of the computing device, wherein the error component is indicative of error in the estimation of the current position along a direction of travel of the computing device;
determining a weight to apply to the error component based on average observed movement of the computing device; and
using the weighted error component as a constraint for determination of an updated estimation of the current position of the computing device.

2. The method of claim 1 , wherein the error component comprises a forward error component indicative of the current position along a forward direction of travel of the computing device.

3. The method of claim 2 , further comprising:
determining a sideways error component of the estimation of the current position of the computing device, wherein the sideways error component is indicative of error in the estimation of the current position along a sideways direction that is substantially perpendicular to the direction of travel of the computing device;
determining a weight to apply to the sideways error component based on an average observed movement of the computing device; and
using the weighted sideways error component as another constraint for determination of the updated estimation of the current position of the computing device.

4. The method of claim 2 , further comprising:
determining an orientation change error component of the estimation of the current position of the computing device, wherein the orientation change error component is indicative of error in the estimation of the current position due to a change in the direction of travel of the computing device;
determining a weight to apply to the orientation change error component based on average observed movement of the computing device; and
using the weighted orientation change error component as another constraint for determination of the updated estimation of the current position of the computing device.

5. The method of claim 4 , wherein determining the orientation change error component of the estimation of the current position of the computing device comprises comparing the estimation of the current position of the computing device with the projection of the current position of the computing device taking into account a gyroscope bias.

6. The method of claim 1 , wherein projecting the current position of the computing device comprises using an average human step length to generate the projection of the current position of the computing device from the previous position of the computing device.

7. The method of claim 1 , wherein determining the estimation of the current position of the computing device comprises:
determining the estimation of the current position of the computing device based on a dead reckoning calculation.

8. The method of claim 1 , further comprising:
receiving outputs from a gyroscope of the computing device; and
determining the direction of travel of the computing device based on the outputs from the gyroscope.

9. The method of claim 1 , further comprising:
receiving data output from one or more sensors of the computing device indicative of movement of the computing device, wherein the one or more sensors include one or more of a GPS sensor, an accelerometer, a gyroscope, a WiFi transceiver, and a magnetometer; and
determining the average observed movement of the computing device based on the data output from the one or more sensors.

10. The method of claim 1 , wherein determining the weight to apply to the error component comprises:
determining a magnitude of the weight to be inversely proportional to a standard deviation of the estimation of the current position of the computing device to the projection of the current position of the computing device.

11. The method of claim 1 , further comprising:
receiving a position measurement from a GPS sensor of the computing device; and
using the position measurement as a further constraint for determination of the updated estimation of the current position of the computing device.

12. A non-transitory computer readable memory having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising:
determining an estimation of a current position of a computing device;
projecting the current position of the computing device from a previous position of the computing device to generate a projection of the current position of the computing device;
determining an error component of the estimation of the current position of the computing device based on a comparison of the estimation of the current position of the computing device with the projection of the current position of the computing device, wherein the error component is indicative of error in the estimation of the current position along a direction of travel of the computing device;
determining a weight to apply to the error component based on average observed movement of the computing device; and
using the weighted error component as a constraint for determination of an updated estimation of the current position of the computing device.

13. The non-transitory computer readable memory of claim 12 , wherein the error component comprises a forward error component indicative of the current position along a forward direction of travel of the computing device.

14. The non-transitory computer readable memory of claim 12 , wherein the functions further comprise:
determining a sideways error component of the estimation of the current position of the computing device, wherein the sideways error component is indicative of error in the estimation of the current position along a sideways direction that is substantially perpendicular to the direction of travel of the computing device;
determining a weight to apply to the sideways error component based on an average observed movement of the computing device; and
using the weighted sideways error component as another constraint for determination of the updated estimation of the current position of the computing device.

15. A method performed by one or more processors executing instructions stored in memory, comprising:
determining an estimation of a current position of a computing device based on (i) received signal strength indications from one or more wireless access points and (ii) known locations of the one or more wireless access points;
determining a forward error component of the estimation of the current position of the computing device, wherein the forward error component is indicative of error in the estimation of the current position along a forward direction of travel of the computing device;
determining a sideways error component of the estimation of the current position of the computing device, wherein the sideways error component is indicative of error in the estimation of the current position along a sideways direction that is substantially perpendicular to the direction of travel of the computing device;
determining a weight to apply to the forward error component and

Assignees

• Google Llc

Inventors

• Le Grand Etienne
• Williams Brian Patrick

Classifications

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• H04W4/026 Primary

  using orientation information, e.g. compass · CPC title

• G01C21/12

  executed aboard the object being navigated; Dead reckoning · CPC title

• H04W4/029

  Location-based management or tracking services · CPC title

• G01C22/006

  Pedometers · CPC title