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

Patent metadata

Field	Value
Publication number	US-11262213-B2
Application number	US-202016884150-A
Country	US
Kind code	B2
Filing date	May 27, 2020
Priority date	Feb 10, 2014
Publication date	Mar 1, 2022
Grant date	Mar 1, 2022

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 computer-implemented method comprising:
determining, by a processor, an estimation of a current position of a computing device based on (i) one or more signals received from one or more wireless access points and (ii) known locations of the one or more wireless access points;
determining, by the processor, a weight to apply to at least one error component of the estimation of the current position of the computing device based on sensor data indicative of movement of the computing device and generated by at least one sensor of the computing device, wherein the error component is indicative of error in the estimation of the current position along at least one direction of movement of the computing device; and
using, by the processor, the at least one weighted error component as a constraint for determination of an updated estimation of the current position of the computing device.

2. The computer-implemented method of claim 1 , further comprising:
determining, by the processor, the at least one error component of the estimation of the current position of the computing device based on the sensor data indicative of movement of the computing device and generated by the at least one sensor of the computing device, wherein the at least one error component comprises a forward error component of the estimation of the current position of the computing device, and wherein the forward error component is indicative of error in the estimation of the current position along a forward direction of movement of the computing device.

3. The computer-implemented method of claim 1 , further comprising:
determining, by the processor, the at least one error component of the estimation of the current position of the computing device based on the sensor data indicative of movement of the computing device and generated by the at least one sensor of the computing device, wherein the at least one error component comprises a sideways error component of the estimation of the current position of the computing device, and wherein the sideways error component is indicative of error in the estimation of the current position along a sideways direction of movement of the computing device.

4. The computer-implemented method of claim 1 , further comprising:
determining, by the processor, the at least one error component of the estimation of the current position of the computing device based on the sensor data indicative of movement of the computing device and generated by the at least one sensor of the computing device, wherein the at least one error component comprises an orientation change error component of the estimation of the current position of the computing device, and 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 movement of the computing device.

5. The computer-implemented method of claim 1 , wherein determining the weight to apply to the at least one error component of the estimation of the current position of the computing device comprises:
determining the weight based on prior observed movement of the computing device, wherein the sensor data is indicative of the prior observed movement of the computing device.

6. The computer-implemented method of claim 5 , wherein the prior observed movement of the computing device comprises an average observed movement of the computing device.

7. The computer-implemented method of claim 1 , wherein determining the estimation of the current position of the computing device comprises:
determining a first estimation of the current position of the computing device by way of a first calculation; and
determining a second estimation of the current position of the computing device by way of a second calculation, wherein the second calculation is different from the first calculation, and wherein the error component is based on a comparison of the first estimation of the current position of the computing device with the second estimation of the current position of the computing device.

8. The computer-implemented method of claim 7 , wherein the at least one sensor of the computing device comprises a plurality of sensors, wherein the first calculation is based on a first set of sensor data acquired from a first set of sensors of the plurality of sensors, wherein the second calculation is based on a second set of sensor data acquired from a second set of sensors of the plurality of sensors, and wherein the second set of sensor data is different from the first set of sensor data.

9. The computer-implemented method of claim 7 , wherein the first calculation is based on sensor data acquired from the at least one sensor of the computing device at a first time, and wherein the second calculation is based on an estimation of a previous position of the computing device at a second time preceding the first time.

10. The computer-implemented method of claim 7 , wherein determining the weight to apply to the at least one error component of the estimation of the current position of the computing device comprises:
determining a magnitude of the weight to be inversely proportional to a standard deviation of the first estimation of the current position of the computing device from the second estimation of the current position of the computing device.

11. The computer-implemented method of claim 1 , wherein determining the estimation of the current position of the computing device based on (i) the one or more signals received from one or more wireless access points and (ii) the known locations of the one or more wireless access points comprises:
determining, based on the one or more signals, one or more identities of the one or more wireless access points;
obtaining, based on the one or more identities of the one or more wireless access points and from a database, the known locations of the one or more wireless access points;
measuring one or more intensities of the one or more signals received from the one or more wireless access points;
determining, based on the one or more intensities, one or more distances between the computing device and the one or more wireless access points;
comparing the one or more distances to the known locations of the one or more wireless access points; and
determining the estimation of the current position of the computing device based on comparing the one or more distances to the known locations of the one or more wireless access points.

12. The computer-implemented method of claim 1 , wherein each respective signal of the one or more signals received from one or more wireless access points comprises a received signal strength indication.

13. The computer-implemented method of claim 1 , wherein determining the estimation of the current position of the computing device further comprises:
determining the estimation of the current position of the computing device based on a dead reckoning calculation.

14. The computer-implemented method of claim 1 , wherein determining the estimation of the current position of the computing device further comprises:
determining the estimation of the current position of the computing device further based on positioning data received from one or more positioning satellites.

15. The computer-implemented method of claim 1 , further comprising:
receiving, by the processor, outputs from a gyroscope of the computing device; and
determining, by the processor, the at least one direction of movement of the computing device based on the outputs from the gyroscope.

16. The computer-implemented method of claim 1 , wher

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

• H04W4/027

  using movement velocity, acceleration information · CPC title

• G01S19/13

  Receivers · CPC title