Apple Inc.

Coherent Navigation, Inc.

Isaac Thomas Miller

Brent Michael Ledvina

Robert William Mayor

Glenn Donald MacGougan

Hyojoon Bae

William J Bencze

Saurabh Godha

Mark Lockwood Psiaki

Changlin Ma

Christina Selle

Mark G Petovello

Robert W Brumley

Kenneth M Pesyna, Jr

Vinay R Majjigi

Daniel Ulbricht

Clark Emerson Cohen

Adam S Howell

Richard B Warren

Pejman Lotfali Kazemi

Oleg Naroditsky

Kumar Gaurav Chhokra

Patrick James Coleman

Sean P Cier

Christian Lipski

Xiao Xiao

Oliver Ruepp

Thomas J Holmes

Lei Wang

Michael P Dal Santo

Aditya Narain Srivastava

Stephen P Jackson

Benjamin A Werner

Jonathan R Schoenberg

Glenn D Macgougan

Fatemeh Ghafoori

Cheng Jia

Yi-Wen Liao

Alexandru Popovici

Embodiments described herein provide for a system, a non-transitory machine-readable medium, and methods to provide location services. In an embodiment, a method provides receiving at least one indication that an electronic device is in transit to at least one defined location, establishing a first fence boundary for the at least one defined location, receiving an indication that the electronic device has crossed the first fence boundary and is in transit to a defined location, and establishing a second fence for the defined location, where the second fence provides a finer granularity fence for the defined location than the first fence.

Proactive provision of positioning information based on user context

The subject technology provides for visualizing a route traversed by a user during a movement event by periodically obtaining position information data from a receiver of a navigation system during a movement event. A path traversed by a user of a device that includes the receiver during the movement event is estimated based on the position information data. One or more previously mapped features within a proximity of the estimated path on a map are determined. The estimated path is matched to the map based on the previously mapped features to obtain a map-matched path. A display device is caused to render the map-matched path on an image of the map.

Route smoothing with map matched positioning coordinates

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.

Location of interest altitude and determining calibration points

A device implementing a system for estimating device orientation includes at least one processor configured to obtain a first estimate for a heading of a device, the first estimate being based on output from a magnetometer of the device. The at least one processor is further configured to capture image data using an image sensor of the device, and determine at least one second estimate of the heading based on correlating the image data with mapping data. The at least one processor is further configured to determine a bias associated with output of the magnetometer based on the first estimate and the at least one second estimate, and adjusting output of the magnetometer based on the determined bias.

Adjusting heading sensor output based on image data

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.

Mobile device navigation system

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.

Estimating device position in multipath environments

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.

Device orientation initialization

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.

Image-based techniques for stabilizing positioning estimates

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.

Iterative estimation of non-holonomic constraints in an inertial navigation system

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.

User-specific motion model for location estimation

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.

Inertial navigation stabilization via barometer

Systems, methods, devices and computer-readable storage mediums are disclosed for device state estimation with body-fixed assumption. In some implementations, a method comprises: determining, by a device, a rotational velocity of a user of the device based on a sensor signal; determining, by the device, user speed; determining, by the device, user acceleration based on the user speed and the rotational velocity of the user; and updating a user state estimator based on the user acceleration.

Device state estimation with body-fixed assumption

Growing community of inventors

El Granada, CA, United States of America

Isaac Thomas Miller