Google Inc.

Zifei Tong

Frank Van Diggelen

Mohammed Khider

Imad Jean Fattouch

Arastoo Zabolestani Moradi

David Orendorff

Stefano Maggiolo

Kevin William Watts

Imad Fattouch

Andrea Marchesini

Zixuan Qu

Guoyu Fu

A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data. Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.

GNSS signal modeling

A method of modeling mutable environmental structures includes receiving an estimated location of a Global Navigation Satellite Systems (GNSS) receiver in an environment and a plurality of GNSS-related features corresponding to a GNSS signal received at the GNSS receiver. The method also includes determining a plurality of candidate positions about the estimated location for the GNSS receiver. Each candidate position corresponds to a possible actual location of the GNSS receiver in the environment. For each candidate position, the method further includes generating, as an output from a GNSS localization model configured to receive the plurality of GNSS-related features as input, a respective probability that the respective candidate position includes the actual location of the GNSS receiver. The method also includes selecting from the plurality of candidate positions, the respective candidate position having a greatest probability as the actual location of the GNSS receiver.

Modeling mutable environmental structures

A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.

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Santa Clara, CA, United States of America

Zifei Tong