公开(公告)号：US09491585B2

公开(公告)日：2016-11-08

申请号：US14292859

申请日：2014-05-31

Applicant: Apple Inc.

Inventor： Joseph Ding-Jiu Huang ,  Abhinav R. Patel ,  Darin Tay ,  David Benjamin Millman ,  Jessica Noel Tsoong ,  Robert Mayor ,  Vitali Lovich

IPC: H04W24/00 ,  H04W4/04

CPC classification number: H04W4/04

Abstract: Methods, systems, and computer program product for location determination using dual statistical filters are described. A mobile device can determine a location of the mobile device using a particle filter and a Kalman filter. The particle filter can filter candidate locations of the mobile device using measurements of environment variables in the venue. The Kalman filter can filter inputs from a sensor of the mobile device for measuring angular movement of the mobile device. The particle filter and the Kalman filter can be linked by heading of the mobile device. Output of the Kalman filter can be used to determine where to place particles, or candidate locations, in a next iteration of the particle filter. Output from the particle filter can be used to determine a center mode of the Kalman filter and to determine a bias of the sensor for measuring angular movement.

Abstract translation: 描述了使用双统计滤波器进行位置确定的方法，系统和计算机程序产品。 移动设备可以使用粒子滤波器和卡尔曼滤波器来确定移动设备的位置。 粒子滤波器可以使用场地中环境变量的测量来过滤移动设备的候选位置。 卡尔曼滤波器可以对来自移动设备的传感器的输入进行滤波，以测量移动设备的角度运动。 粒子滤波器和卡尔曼滤波器可以通过移动设备的标题链接。 可以使用卡尔曼滤波器的输出来确定在粒子滤波器的下一次迭代中放置颗粒或候选位置的位置。 可以使用粒子滤波器的输出来确定卡尔曼滤波器的中心模式，并确定用于测量角运动的传感器的偏置。

公开(公告)号：US20160094954A1

公开(公告)日：2016-03-31

申请号：US14502746

申请日：2014-09-30

Applicant: Apple Inc.

Inventor： David Benjamin Millman ,  Johan Olav Bergerengen ,  Robert Mayor ,  Brian Stephen Smith

IPC: H04W4/04 ,  H04W24/10 ,  H04W64/00 ,  H04W4/00 ,  H04L29/08 ,  H04W4/02

CPC classification number: H04W64/00 ,  G01S5/02 ,  G01S5/0252 ,  G01S5/0263 ,  H04L67/12 ,  H04W4/027 ,  H04W4/80 ,  H04W24/10 ,  H04W64/006

Abstract: Methods, program products, and systems for using multiple sensors to determine a location fingerprint are described. A sampling device can measure RF signals detected at a train station of a transit system or a route of the transit system. The sampling device, or a location server receiving the measurements, can filter RF signal measurements using one or more readings from sensors coupled to the sampling device and that are different from RF receivers. The readings can be taken concurrently with the RF signal measurements. These readings, designated as motion cues, can include motion sensor readings, barometer readings, or magnetometer readings. Using the motion cues, the sampling device or location server can distinguish different platforms of a station of the transit system and different levels of the station, or filter out RF signal measurements that may have been inaccurate, e.g., as caused by disturbances from a train entering or leaving a station.

Abstract translation: 描述了使用多个传感器来确定位置指纹的方法，程序产品和系统。 采样设备可以测量在交通系统的火车站或者交通系统的路线上检测到的RF信号。 采样设备或接收测量的位置服务器可以使用耦合到采样设备并且与RF接收器不同的传感器的一个或多个读数来过滤RF信号测量。 读数可以与RF信号测量同时进行。 指定为运动线索的这些读数可以包括运动传感器读数，气压计读数或磁力计读数。 使用运动提示，采样设备或定位服务器可以区分交通系统的车站的不同平台和车站的不同等级，或者过滤出可能不准确的RF信号测量，例如由于列车的干扰引起的 进出车站。

公开(公告)号：US20160091593A1

公开(公告)日：2016-03-31

申请号：US14502653

申请日：2014-09-30

Applicant: Apple Inc.

Inventor： David Benjamin Millman ,  Johan Olav Bergerengen ,  Robert Mayor ,  Brian Stephen Smith

IPC: G01S5/02 ,  G01S19/13 ,  B61L25/02 ,  G01C21/20

CPC classification number: B61L25/025 ,  B61L15/0027 ,  B61L27/0005 ,  G01C21/20 ,  G01S5/0252 ,  H04W4/02 ,  H04W4/046 ,  H04W64/00

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.

Abstract translation: 描述了用于构建运输系统的位置指纹数据库的方法，程序产品和系统。 交通系统可以是包括地下火车站和使用GPS信号的位置确定困难或不可能的路线的地铁系统。 采样设备可以测量信号，例如在站点或路线上检测到的射频（RF）信号。 位置服务器可以为每个站点和路线构建位置指纹。 如果用户设备位于相应的站或路线，则每个位置指纹可以表示用户设备的预期信号测量。 位置服务器可以向用户设备提供位置指纹，以便用户设备确定站内或路线上的用户设备的位置。

公开(公告)号：US20150350849A1

公开(公告)日：2015-12-03

申请号：US14292859

申请日：2014-05-31

Applicant: Apple Inc.

Inventor： Joseph Ding-Jiu Huang ,  Abhinav R. Patel ,  Darin Tay ,  David Benjamin Millman ,  Jessica Noel Tsoong ,  Robert Mayor ,  Vitali Lovich

IPC: H04W4/04

CPC classification number: H04W4/04

Abstract: Methods, systems, and computer program product for location determination using dual statistical filters are described. A mobile device can determine a location of the mobile device using a particle filter and a Kalman filter. The particle filter can filter candidate locations of the mobile device using measurements of environment variables in the venue. The Kalman filter can filter inputs from a sensor of the mobile device for measuring angular movement of the mobile device. The particle filter and the Kalman filter can be linked by heading of the mobile device. Output of the Kalman filter can be used to determine where to place particles, or candidate locations, in a next iteration of the particle filter. Output from the particle filter can be used to determine a center mode of the Kalman filter and to determine a bias of the sensor for measuring angular movement.

Abstract translation: 描述了使用双统计滤波器进行位置确定的方法，系统和计算机程序产品。 移动设备可以使用粒子滤波器和卡尔曼滤波器来确定移动设备的位置。 粒子滤波器可以使用场地中环境变量的测量来过滤移动设备的候选位置。 卡尔曼滤波器可以对来自移动设备的传感器的输入进行滤波，以测量移动设备的角度运动。 粒子滤波器和卡尔曼滤波器可以通过移动设备的标题链接。 可以使用卡尔曼滤波器的输出来确定在粒子滤波器的下一次迭代中放置颗粒或候选位置的位置。 可以使用粒子滤波器的输出来确定卡尔曼滤波器的中心模式，并确定用于测量角运动的传感器的偏置。

公开(公告)号：US20150346317A1

公开(公告)日：2015-12-03

申请号：US14292853

申请日：2014-05-31

Applicant: Apple Inc.

Inventor： Abhinav R. Patel ,  Darin Tay ,  David Benjamin Millman ,  Jessica Noel Tsoong ,  Joseph Ding-Jiu Huang ,  Robert Mayor ,  Vitali Lovich

IPC: G01S5/02

CPC classification number: G01S5/0289 ,  G01S5/0252 ,  G01S5/0284 ,  G01S5/0294 ,  H04W4/02

Abstract: Methods, systems, and computer program product for deduplicating location fingerprint data for a venue are described. A system including a location server, or a mobile device, or both, can deduplicate the location fingerprint data. Deduplicating the location fingerprint data can include identifying correlated signal sources the signals of which are mutually dependent such that measurements of one signal source can be used to predict measurements of another. The system can determine a mutual information entropy value for each pair of signal sources, and identify the correlated signal sources based on high mutual information entropy value. The system can adjust weights of the correlated signal sources in location determination

Abstract translation: 描述了用于对场地进行重复数据删除位置指纹数据的方法，系统和计算机程序产品。 包括位置服务器或移动设备或两者的系统可以对位置指纹数据进行重复数据删除。 对位置指纹数据进行重复数据删除可以包括识别信号相互依赖的相关信号源，使得可以使用一个信号源的测量来预测另一信号源的测量。 该系统可以确定每对信号源的互信息熵值，并且基于高互信息熵值来识别相关信号源。 该系统可以在位置确定中调整相关信号源的权重