公开(公告)号：US11709279B2

公开(公告)日：2023-07-25

申请号：US16712890

申请日：2019-12-12

Applicant: Apple Inc.

Inventor： Isaac T. Miller ,  Mark G. Petovello

IPC: G01S19/39 ,  G01S19/43 ,  G01S19/49

CPC classification number: G01S19/393 ,  G01S19/43 ,  G01S19/49

Abstract: A device implementing a system for device orientation initialization includes at least one processor configured to determine that the device is within or coupled to a vehicle in motion. The at least one processor is configured to employ, in response to the determining, a first position estimation model to estimate a position of the device, and detect occurrence of a predefined condition with respect to employing the first position estimation model. The at least one processor is further configured to switch, in response to detecting occurrence of the predefined condition, from employing the first position estimation model to employing a second position estimation model to estimate the position of the device. The first and second position estimation model apply different respective error state metrics in estimating the position of the device.

公开(公告)号：US11249197B2

公开(公告)日：2022-02-15

申请号：US16583149

申请日：2019-09-25

Applicant: Apple Inc.

Inventor： Hyojoon Bae ,  Isaac T. Miller ,  Robert W. Mayor

IPC: G01S19/45 ,  G01S19/51 ,  G06T7/277 ,  G01C21/20 ,  G06T7/70 ,  G01S19/40

Abstract: A device implementing a system for estimating device location includes at least one processor configured to receive a first estimated position of the device at a first time. The at least one processor is further configured to capture, using an image sensor of the device, images during a time period defined by the first time and a second time, and determine, based on the images, a second estimated position of the device, the second estimated position being relative to the first estimated position. The at least one processor is further configured to receive a third estimated position of the device at the second time, and estimate a location of the device based on the second estimated position and the third estimated position.

公开(公告)号：US20210396619A1

公开(公告)日：2021-12-23

申请号：US17163180

申请日：2021-01-29

Applicant: Apple Inc.

Inventor： Lei Wang ,  William J. Bencze ,  Kumar Gaurav Chhokra ,  Fatemeh Ghafoori ,  Stephen P. Jackson ,  Cheng Jia ,  Yi-Wen Liao ,  Glenn D. Macgougan ,  Isaac T. Miller ,  Alexandru Popovici ,  Christina Selle ,  Aditya Narain Srivastava ,  Richard Warren ,  Michael P. Dal Santo ,  Pejman Lotfali Kazemi

IPC: G01L27/00 ,  H04W4/02 ,  H04W4/38 ,  H04W4/90

Abstract: Described herein are techniques to enable a mobile device to perform multi-source estimation of an altitude for a location. A baseline altitude may be determined at ground level for a location and used to calibrate a barometric pressure sensor on the mobile device. The calibrated barometric pressure sensor can then estimate changes in altitude relative to ground level based on detected pressure differentials, allowing a relative altitude to ground to be determined. Baseline calibration for the barometric sensor calibration can be performed to determine an ambient ground-level barometric pressure.

公开(公告)号：US20210092555A1

公开(公告)日：2021-03-25

申请号：US16576573

申请日：2019-09-19

Applicant: Apple Inc.

Inventor： Robert William Mayor ,  Isaac T. Miller ,  Adam S. Howell ,  Vinay R. Majjigi ,  Oliver Ruepp ,  Daniel Ulbricht ,  Oleg Naroditsky ,  Christian Lipski ,  Sean P. Cier ,  Hyojoon Bae ,  Saurabh Godha ,  Patrick J. Coleman

IPC: H04W4/024 ,  H04W4/02 ,  H04M1/725 ,  G06T7/73 ,  G06K9/00

Abstract: Location mapping and navigation user interfaces may be generated and presented via mobile computing devices. A mobile device may detect its location and orientation using internal systems, and may capture image data using a device camera. The mobile device also may retrieve map information from a map server corresponding to the current location of the device. Using the image data captured at the device, the current location data, and the corresponding local map information, the mobile device may determine or update a current orientation reading for the device. Location errors and updated location data also may be determined for the device, and a map user interface may be generated and displayed on the mobile device using the updated device orientation and/or location data.

公开(公告)号：US10921462B2

公开(公告)日：2021-02-16

申请号：US15853524

申请日：2017-12-22

Applicant: Apple Inc.

Inventor： Isaac T. Miller ,  Changlin Ma

IPC: G01S19/49 ,  G01C21/20 ,  G01C21/00 ,  G01C21/16 ,  G01S19/46

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 at a sampling interval, each set corresponding to location data. For each sampling period defined by the sampling interval, the at least one processor is configured to obtain first sensor data corresponding to device motion during the sampling period, obtain second sensor data corresponding to atmospheric pressure sampled at a beginning and end of the sampling period, calculate a change in altitude based on a difference in the atmospheric pressure at the beginning and end of the sampling period, and estimate a device state based on the first sensor data and change in altitude.

公开(公告)号：US09618625B2

公开(公告)日：2017-04-11

申请号：US14244828

申请日：2014-04-03

Applicant: Apple Inc.

Inventor： Isaac T. Miller ,  William J. Bencze ,  Robert W. Brumley ,  Brent M. Ledvina ,  Mark L. Psiaki ,  Thomas J. Holmes ,  Clark E. Cohen

IPC: G01S19/13 ,  G01S19/29

CPC classification number: G01S19/29

Abstract: A system and method of continuous carrier wave reconstruction includes a radio navigation receiver that includes one or more processors, memory coupled to the one or more processors, and an input for receiving a signal from a transmitter. The signal has a phase. The one or more processors are configured to obtain phase lock on the received signal, extract first phase information from the received signal, detect a loss in phase lock on the received signal, and extrapolate second phase information while phase lock is lost using a model of the phase. In some embodiments, the one or more processors are further configured to reconstruct the carrier signal based on the first and second phase information. In some embodiments, the one or more processors are further configured to scale the first and second phase information from a first nominal frequency of the received signal to a different second nominal frequency.