Location fingerprinting for transit systems

Patent metadata

Field	Value
Publication number	US-9758183-B2
Application number	US-201414502653-A
Country	US
Kind code	B2
Filing date	Sep 30, 2014
Priority date	Sep 30, 2014
Publication date	Sep 12, 2017
Grant date	Sep 12, 2017

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.

First claim

What is claimed is:

1. A method comprising:
receiving, by one or more computer processors and from a sampling device, a plurality of sensor readings, each of the sensor readings corresponding to a reading of an attribute of an environment at a portion of a transit system, the portion comprising a station of the transit system or at least a portion of a route of the transit system,
the sensor readings including measurements of strength of radio frequency (RF) signals of signal sources that are detectable at the portion of the transit system, each measurement of strength being associated with a respective identifier of a corresponding signal source;
the sensor readings also including accelerometer readings from the sampling device;
identifying, among the sensor readings, received signal strength indication peaks each associated with a respective corresponding signal source, at least two of the received signal strength indication peaks being associated with a temporal distance;
determining, based on at least a portion of the accelerometer readings, that acceleration along a travel direction of the sampling device meets a threshold of detectable acceleration;
accounting for the acceleration along the travel direction of the sampling device by calculating an adjusted temporal distance between the two received signal strength indication peaks;
determining, from the sensor readings, an environment profile for the portion of the transit system, the environment profile comprising a distribution of frequency of a number of occurrences of each particular value among the sensor readings over values of the readings;
determining, from the sensor readings, whether the environment profile corresponds to a station of the transit system or a moving vehicle of the transit system;
determining, from the environment profile, a location fingerprint for the portion of the transit system, the location fingerprint comprising projected readings of sensors of a mobile device when the mobile device is located at the portion of the transit system; and
providing the location fingerprint to a user device for determining a location of the user device when the user device is in the transit system.

2. The method of claim 1 , wherein:
the transit system is a subway system where signals from a global positioning satellite system are unavailable or inaccurate for location determination, and
the sensor readings received by the sampling device include readings from at least one of an accelerometer, a magnetometer, a barometer, a gyroscope, a light sensor, a sound pressure sensor, or a radio receiver coupled to the sampling device.

3. The method of claim 1 , wherein:
at least one of the signal sources includes a cell site of a cellular communications network, a wireless access point, or a Bluetooth™ low energy (BLE) beacon.

4. The method of claim 1 , wherein:
the portion of the transit system comprises a plurality of platforms of the station of the transit system,
the sensor readings comprise a plurality of measurements taken at each of the platforms and associated with an identifier of the station and an identifier of the platform where the measurements are taken.

5. The method of claim 1 , wherein:
the portion of the transit system comprises a section of a rail of the transit system; and
each of the sensor readings is associated with a tag indicating whether a surveyor carrying the sampling device is in a train and remains stationary relative to the train, whether the surveyor is walking on the train, whether the train is moving along the rail, whether the train is accelerating or decelerating, and whether the train has stopped at a station.

6. The method of claim 1 , wherein the environment profile is representable by at least one of:
a discrete representation of one or more histograms each corresponding to a signal source, each histogram having bins of measured signal strengths of the corresponding signal source and frequencies corresponding to occurrences of measurements at each signal strength, or
a continuous probability density representation.

7. The method of claim 6 , wherein determining the location fingerprint comprises:
determining, from each histogram in the environment profile, a number of modes, each mode corresponding to a local maximum number of occurrences at a corresponding signal strength measured from the corresponding signal source;
selecting an algorithm optimized for single mode statistical filtering upon determining that the histogram has one mode, or selecting an algorithm optimized for multimode statistical filtering upon determining that the histogram has a plurality of modes; and
determining the location fingerprint at least in part by applying the selected algorithm to the respective histogram.

8. The method of claim 1 , wherein the location fingerprint is associated with an identifier of an operator of the transit system and at least one of a name of the station or geographic coordinates of a portion of the route.

9. The method of claim 8 wherein providing the location fingerprint to a user device comprises:
receiving a request from the user device for location fingerprint data of the transit system, the request includes the identifier of the operator of the transit system; and
in response to the request, providing the location fingerprint to the user device.

10. A system comprising:
a mobile device;
a non-transitory computer-readable medium storing instructions operable to cause the mobile device to perform operations comprising:
receiving, by one or more computer processors and from a sampling device, a plurality of sensor readings, each of the sensor readings corresponding to a reading of an attribute of an environment at a portion of a transit system, the portion comprising a station of the transit system or at least a portion of a route of the transit system,
the sensor readings including measurements of strength of radio frequency (RF) signals of signal sources that are detectable at the portion of the transit system, each measurement of strength being associated with a respective identifier of a corresponding signal source;
the sensor readings also including accelerometer readings from the sampling device;
identifying, among the sensor readings, received signal strength indication peaks each associated with a respective corresponding signal source, at least two of the received signal strength indication peaks being associated with a temporal distance;
determining, based on at least a portion of the accelerometer readings, that acceleration along a travel direction of the sampling device meets a threshold of detectable acceleration;
accounting for the acceleration along the travel direction of the sampling device by calculating an adjusted temporal distance between the two received signal strength indication peaks;
determining, from the sensor readings, an environment profile for the portion of the transit system, the environment profile comprising a distribution of frequency of a number of occurrences of each particular value among the sensor readings over values of the readings;
determining, from the sensor readings, whether the environment profile corresponds to a station of the transit system or a moving vehicle of the transit system;
determining, from the environment profile, a location fingerprint for the portion of the transit system, the location fingerprint comprising projected readings of sensors of a mobile device when the mobile device is located at the portion of the transit system; and
providing the location fingerprint to a user device for determining a location of the user device when the user device is in the transit system.

11. The sys

Assignees

• Apple Inc

Inventors

• Millman David Benjamin
• Bergerengen Johan Olav
• Mayor Robert
• Smith Brian Stephen

Classifications

• G01S5/02524

  Creating or updating the radio-map · CPC title

• G01S5/02522

  The radio-map containing measured values of non-radio values · CPC title

• G01S5/0252

  Radio frequency fingerprinting · CPC title

• H04W4/046

  Electricity · mapped topic

• B61L25/025 Primary

  Absolute localisation, e.g. providing geodetic coordinates · CPC title