Correcting in-venue location estimation using structural information

Patent metadata

Field	Value
Publication number	US-9918203-B2
Application number	US-201514866424-A
Country	US
Kind code	B2
Filing date	Sep 25, 2015
Priority date	Jun 5, 2015
Publication date	Mar 13, 2018
Grant date	Mar 13, 2018

Abstract

Methods, systems, and computer program products for correcting in-venue location estimation using structural information are described. A mobile device can use wireless location technologies and dead reckoning to determine an estimated location of the mobile device in a venue. The mobile device can compare the estimated location with a map of the venue. Upon determining that the estimated location conflicts with a structural constraint, the mobile device can adjust the location estimation using the structural information. Adjusting the location estimation can include adjusting a statistical filter that provides estimation of the location and changing a heading of the mobile device used in the dead reckoning.

First claim

What is claimed is:

1. A method comprising:
determining, by a mobile device, an in-venue location and a heading, the in-venue location being an estimated location of the mobile device inside of a venue that is accessible by a pedestrian and that includes constraints limiting movement of the pedestrian, the in-venue location being estimated using a statistical filter of the mobile device, the heading being estimated based on one or more motion sensor readings of the mobile device;
determining, by the mobile device and using a venue accessibility map, that the estimated location is inside an inaccessible area of the venue that, according to the constraints in the venue as represented in the venue accessibility map, is inaccessible by a user of the mobile device;
determining that, if the mobile device moved in a direction that is at a specified angle to the heading, the estimated location would not have been in the inaccessible area and would have been accessible by the user;
estimating a corrected in-venue location of the mobile device, including adjusting parameters of the statistical filter by assigning more weights along the direction in estimating the in-venue location of the mobile device; and
adjusting, for a next iteration of in-venue location estimation, the heading of the mobile device by an amount that is less than the specified angle.

2. The method of claim 1 , wherein the statistical filter is a particle filter for estimating a location by filtering particles, each particle being a candidate location of the mobile device in the venue.

3. The method of claim 2 , wherein adjusting the statistical filter parameters comprises selecting candidate locations along the direction for filtering in the next iteration of in-venue location estimation.

4. The method of claim 1 , wherein the venue accessibility map comprises a digital map of the constraints in the venue and a grid overlaid on the digital map, the grid having a plurality of cells each indicating whether a portion of the venue overlaid by the cell is accessible or inaccessible.

5. The method of claim 1 , wherein the specified angle is substantially a right angle that has a sign indicating whether the direction is clockwise or counter-clockwise of the heading.

6. The method of claim 5 , comprising adjusting the heading of the mobile device by an amount that has the same sign as the specified angle.

7. The method of claim 1 , comprising presenting the corrected in-venue location for display on the mobile device.

8. A mobile device, comprising:
one or more processors; and
a non-transitory computer-readable medium storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
determining an in-venue location and a heading, the in-venue location being an estimated location of the mobile device inside of a venue that is accessible by a pedestrian and that includes constraints limiting movement of the pedestrian, the in-venue location being estimated using a statistical filter of the mobile device, the being estimated based on one or more motion sensor readings of the mobile device;
determining using a venue accessibility map, that the estimated location is inside an inaccessible area of the venue that, according to the constraints in the venue as represented in the venue accessibility map, is inaccessible by a user of the mobile device;
determining that, if the mobile device moved in a direction that is at a specified angle to the heading, the estimated location would not have been in the inaccessible area and would have been accessible by the user, the specified angle having a sign indicating whether the direction is clockwise or counter clockwise from the heading; and
estimating a corrected in-venue location of the mobile device, including adjusting parameters of the statistical filter by assigning more weights along the direction in estimating the in-venue location of the mobile device; and
adjusting the heading of the mobile device by an amount that is less than the specified angle and that has the same sign as the specified angle.

9. The mobile device of claim 8 , wherein the statistical filter is a particle filter for estimating a location by filtering particles, each particle being a candidate location of the mobile device in the venue.

10. The mobile device of claim 9 , wherein adjusting the statistical filter parameters comprises selecting candidate locations along the direction for filtering in a next iteration of location estimation.

11. The mobile device of claim 8 , wherein the venue accessibility map comprises a digital map of the constraints in the venue and a grid overlaid on the digital map, the grid having a plurality of cells each indicating whether a portion of the venue overlaid by the cell is accessible or inaccessible.

12. The mobile device of claim 8 , wherein the specified angle is substantially a right angle.

13. The mobile device of claim 8 , comprising presenting the corrected in-venue location for display on the mobile device.

14. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a mobile device, cause the one or more processors to perform operations comprising:
determining an in-venue location and a heading, the in-venue location being an estimated location of the mobile device inside of a venue that is accessible by a pedestrian and that includes constraints limiting movement of the pedestrian, the in-venue location being estimated using a statistical filter of the mobile device, the heading being estimated based on one or more motion sensor readings of the mobile device;
determining using a venue accessibility map, that the estimated location is inside an inaccessible area of the venue that, according to the constraints in the venue as represented in the venue accessibility map, is inaccessible by a user of the mobile device;
determining that, if the mobile device moved in a direction that is at a specified angle to the heading, the estimated location would not have been in the inaccessible area and would have been accessible by the user;
estimating a corrected in-venue location of the mobile device, including adjusting parameters of the statistical filter by assigning more weights along the direction in estimating the in-venue location of the mobile device; and
adjusting, for a next iteration of in-venue location estimation, the heading of the mobile device by an amount that is less than the specified angle.

15. The non-transitory computer-readable medium of claim 14 , wherein the statistical filter is a particle filter for estimating a location by filtering particles, each particle being a candidate location of the mobile device in the venue.

16. The non-transitory computer-readable medium of claim 15 , wherein adjusting the statistical filter parameters comprises selecting candidate locations along the direction for filtering in the next iteration of in-venue location estimation.

Assignees

• Apple Inc

Inventors

• Huang Joseph Ding-Jiu
• Tay Darin
• Mayor Robert
• Millman David Benjamin

Classifications

• H04W64/006

  with additional information processing, e.g. for direction or speed determination · CPC title

• H04W24/00

  Supervisory, monitoring or testing arrangements · CPC title

• H04W4/043 Primary

  Electricity · mapped topic

• G01S5/0263

  by combining or switching between positions derived from two or more separate positioning systems · CPC title

• G01C21/206 Primary

  specially adapted for indoor navigation · CPC title