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    User-specific motion model for location estimation
    11.
    发明授权
    User-specific motion model for location estimation 有权

    公开(公告)号：US11109192B2

    公开(公告)日：2021-08-31

    申请号：US16417478

    申请日：2019-05-20

    Applicant: Apple Inc.

    Inventor： Isaac T. Miller ,  Benjamin A. Werner ,  Changlin Ma ,  Christina Selle ,  Saurabh Godha ,  Mark G. Petovello

    IPC: H04W4/029

    Abstract: A device implementing a system for estimating device location includes at least one processor configured to estimate a first position of a device based on a first set of parameters, the first set of parameters derived from first sensor data obtained on the device, the first set of parameters corresponding to device motion. The at least one processor is configured to estimate a second position of a user of the device based on a second set of parameters, the second set of parameters derived from second sensor data obtained on the device, the second set of parameters corresponding to user motion. Estimating the first and second positions is constrained by a predefined relationship between the device motion and the user motion. The at least one processor is configured to provide at least one of the first position of the device or the second position of the user.

    Iterative estimation of non-holonomic constraints in an inertial navigation system
    12.
    发明授权
    Iterative estimation of non-holonomic constraints in an inertial navigation system 有权

    公开(公告)号：US10739140B2

    公开(公告)日：2020-08-11

    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 ,  G01S19/31 ,  G01C21/28 ,  G01S19/39 ,  G01S19/50 ,  G01S19/46 ,  B60W50/00

    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.

    Estimating device position in multipath environments
    15.
    发明授权
    Estimating device position in multipath environments 有权

    公开(公告)号：US11828857B2

    公开(公告)日：2023-11-28

    申请号：US18070395

    申请日：2022-11-28

    Applicant: Apple Inc.

    Inventor： Mark G. Petovello ,  Isaac T. Miller ,  Kenneth M. Pesyna, Jr.

    IPC: G01S19/22 ,  G01S19/39 ,  G01S19/40

    CPC classification number: G01S19/22 ,  G01S19/393 ,  G01S19/40

    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.

    USER-SPECIFIC MOTION MODEL FOR LOCATION ESTIMATION
    16.
    发明申请
    USER-SPECIFIC MOTION MODEL FOR LOCATION ESTIMATION 审中-公开

    公开(公告)号：US20200084583A1

    公开(公告)日：2020-03-12

    申请号：US16417478

    申请日：2019-05-20

    Applicant: Apple Inc.

    Inventor： Isaac T. Miller ,  Benjamin A. Werner ,  Changlin Ma ,  Christina Selle ,  Saurabh Godha ,  Mark G. Petovello

    IPC: H04W4/029

    Abstract: A device implementing a system for estimating device location includes at least one processor configured to estimate a first position of a device based on a first set of parameters, the first set of parameters derived from first sensor data obtained on the device, the first set of parameters corresponding to device motion. The at least one processor is configured to estimate a second position of a user of the device based on a second set of parameters, the second set of parameters derived from second sensor data obtained on the device, the second set of parameters corresponding to user motion. Estimating the first and second positions is constrained by a predefined relationship between the device motion and the user motion. The at least one processor is configured to provide at least one of the first position of the device or the second position of the user.

    Systems, methods, devices and subassemblies for creating and delivering crowd-sourced GNSS models
    17.
    发明授权
    Systems, methods, devices and subassemblies for creating and delivering crowd-sourced GNSS models 有权

    公开(公告)号：US09612340B1

    公开(公告)日：2017-04-04

    申请号：US14189577

    申请日：2014-02-25

    Applicant: Apple Inc.

    Inventor： Isaac T. Miller ,  Brent M. Ledvina

    IPC: G01S19/39 ,  G01S19/07 ,  G01S19/41

    CPC classification number: G01S19/39 ,  G01S19/07 ,  G01S19/41

    Abstract: Systems, methods, devices and subassemblies for creating and delivering crowd-sourced GNSS models include receiving at one or more navigation receivers first signals transmitted by one or more navigation beacons, determining by the navigation receivers first navigation observables based on the received first signals, receiving at an augmentation server information associated with the first navigation observables, determining by the augmentation server augmentation information based on at least the received information associated with the first navigation observables and computational models, transmitting the augmentation information to the navigation receivers, receiving by the navigation receivers the augmentation information, receiving by the navigation receivers second signals transmitted by the one or more navigation beacon, determining by the navigation receivers second navigation observables based on the received second signals and determining by the navigation receivers a respective high-precision position, velocity, and time (PVT) solution based on the received augmentation information and the second navigation observables.

    LOW-POWER PEDESTRIAN ROUTE RECONSTRUCTION
    18.
    发明申请
    LOW-POWER PEDESTRIAN ROUTE RECONSTRUCTION 有权

    公开(公告)号：US20240401967A1

    公开(公告)日：2024-12-05

    申请号：US18680877

    申请日：2024-05-31

    Applicant: Apple Inc.

    Inventor： Kenneth M. Pesyna, JR. ,  Aditya Marawar ,  Christina Selle ,  Isaac T. Miller ,  Saurabh Godha

    IPC: G01C21/36

    Abstract: Techniques are described herein for low-power pedestrian route reconstruction. A method can include accessing location data comprising a set of location points collected by a user device during a workout and defining an initial route. The method can further include accessing map data comprising a plurality of paths within a geographic region. The method can further include, for a plurality of location point pairs of the set of location points, determining a route segment between the pair of location points that follows a path segment of the plurality of paths. The method can further include combining route segments for each location point pair of the plurality of location point pairs to define a reconstructed route that begins with a first location route pair based on an initial location point and ends with a second location route pair based on a final location point.

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