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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
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.
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公开(公告)号：US20170347239A1
公开(公告)日：2017-11-30
申请号：US15275133
申请日：2016-09-23
Applicant: Apple Inc.
Inventor： Glenn Donald MacGougan , Changlin Ma , Kumar Gaurav Chhokra , Robert Mayor
IPC: H04W4/02 , H04B1/3827
Abstract: Systems, methods, devices and computer-readable storage mediums are disclosed for assisted GNSS velocity estimation. In an implementation, a method comprises: obtaining, by a mobile device, a step-based speed measurement based on sensor data; obtaining, by the mobile device, a step-based speed uncertainty associated with the step-based speed measurement; determining, by the mobile device, that one or more assistance conditions are met; responsive to the determining, assisting a state estimator using the step-based speed measurement and the associated step-based speed uncertainty; and estimating at least one of the position, velocity or speed of the mobile device using the assisted state estimator.
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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.
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公开(公告)号：US10171946B2
公开(公告)日：2019-01-01
申请号：US15275133
申请日：2016-09-23
Applicant: Apple Inc.
Inventor： Glenn Donald MacGougan , Changlin Ma , Kumar Gaurav Chhokra , Robert Mayor
IPC: H04W4/02 , H04B1/3827 , H04W4/029
Abstract: Systems, methods, devices and computer-readable storage mediums are disclosed for assisted GNSS velocity estimation. In an implementation, a method comprises: obtaining, by a mobile device, a step-based speed measurement based on sensor data; obtaining, by the mobile device, a step-based speed uncertainty associated with the step-based speed measurement; determining, by the mobile device, that one or more assistance conditions are met; responsive to the determining, assisting a state estimator using the step-based speed measurement and the associated step-based speed uncertainty; and estimating at least one of the position, velocity or speed of the mobile device using the assisted state estimator.
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公开(公告)号：US20240401958A1
公开(公告)日：2024-12-05
申请号：US18680791
申请日：2024-05-31
Applicant: Apple Inc.
Inventor： Saurabh Godha , James T. Curran , Fatemeh Ghafoori , Changlin Ma , Isaac T. Miller
IPC: G01C21/34
Abstract: Techniques are described for improving driver efficiency. An example method can include a device accessing sparse location data indicative of one or more geographic locations along a route of the user device during a first time period. The route includes a starting location data point and an ending location data point. The device can access motion data collected by the sensors of the user device. The motion data can be collected by the sensors during the first time period. After a conclusion of the first time period, the device can generate, using the sparse location data and the motion data, a dense data set to reconstruct a route that includes the starting location data point and the ending location data point. The reconstructed route can include second dense location data and velocity data. The device can store the reconstructed route in a local memory of the user device.
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Patent Agency Ranking
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.
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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.
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公开(公告)号：US11441906B2
公开(公告)日：2022-09-13
申请号：US16924104
申请日：2020-07-08
Applicant: Apple Inc.
Inventor： Changlin Ma , Isaac T. Miller
IPC: G01C21/28 , G01S19/31 , G01C21/16 , B60G17/016 , B60R21/0132 , G01S19/39 , G01S19/50 , 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.
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公开(公告)号：US10309775B2
公开(公告)日：2019-06-04
申请号：US14639652
申请日：2015-03-05
Applicant: Apple Inc.
Inventor： Glenn D. MacGougan , Changlin Ma , Robert W. Mayor
Abstract: An electronic device may include a pressure sensor for measuring barometric pressure. Pressure measurements may be calibrated using crowd-sourced pressure data to remove any weather bias or sensor bias associated with the pressure measurements. Altitude of the electronic device may be determined using the calibrated pressure measurement. When it is desired to estimate altitude, the electronic device may transmit a query to a server, which returns a local reference pressure value for the electronic device based on crowd-sourced pressure data from electronic devices in the vicinity of the electronic device making the query. To determine the local reference pressure value, the server may correlate the crowd-sourced pressure data with space, taking into account variations in terrain using digital elevation models to determine location-specific reference pressures. The local reference pressure value for a given electronic device is then determined using crowd-sourced reference pressures at nearby locations.
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公开(公告)号：US20160258749A1
公开(公告)日：2016-09-08
申请号：US14639652
申请日：2015-03-05
Applicant: Apple Inc.
Inventor： Glenn D. MacGougan , Changlin Ma , Robert W. Mayor
Abstract: An electronic device may include a pressure sensor for measuring barometric pressure. Pressure measurements may be calibrated using crowd-sourced pressure data to remove any weather bias or sensor bias associated with the pressure measurements. Altitude of the electronic device may be determined using the calibrated pressure measurement. When it is desired to estimate altitude, the electronic device may transmit a query to a server, which returns a local reference pressure value for the electronic device based on crowd-sourced pressure data from electronic devices in the vicinity of the electronic device making the query. To determine the local reference pressure value, the server may correlate the crowd-sourced pressure data with space, taking into account variations in terrain using digital elevation models to determine location-specific reference pressures. The local reference pressure value for a given electronic device is then determined using crowd-sourced reference pressures at nearby locations.
Abstract translation: 电子设备可以包括用于测量大气压力的压力传感器。 压力测量可以使用人群来源的压力数据进行校准，以消除与压力测量相关联的任何天气偏差或传感器偏差。 可以使用校准的压力测量来确定电子设备的高度。 当希望估计高度时，电子设备可以向服务器发送查询，该服务器基于来自电子设备附近的来自电子设备的来自人群的压力数据返回电子设备的本地参考压力值，从而进行查询 。 为了确定本地参考压力值，服务器可以将人群来源的压力数据与空间相关联，考虑到使用数字高程模型的地形变化以确定位置特定的参考压力。 然后，使用在附近位置的人群来源的参考压力来确定给定电子设备的局部参考压力值。
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