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1. 发明授权

US11412350B2 Mobile device navigation system 有权
公开(公告)号：US11412350B2
公开(公告)日：2022-08-09
申请号：US16576573
申请日：2019-09-19
申请人： Apple Inc.
发明人： 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分类号： H04W4/024 , H04W4/02 , G06T7/73 , H04M1/724 , G06V20/10
摘要： 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.

2. 发明授权

US09557422B1 Systems, methods, devices and subassemblies for creating and delivering a GNSS augmentation service 有权
标题翻译：用于创建和交付GNSS增强服务的系统，方法，设备和子组件
公开(公告)号：US09557422B1
公开(公告)日：2017-01-31
申请号：US14103752
申请日：2013-12-11
申请人： Apple Inc.
发明人： Isaac T. Miller , William J. Bencze , Robert Brumley , Brent M. Ledvina
IPC分类号： G01S19/46 , G01S19/38 , G01S19/45 , G01S19/05 , G01S19/07
CPC分类号： G01S19/07
摘要： Systems, methods, devices and subassemblies for creating and delivering a GNSS augmentation service include one or more reference stations for receiving signals transmitted by navigation beacons and an augmentation server coupled to the reference stations. At least one of the reference stations is able to receive at least one of the signals from a low earth orbit satellite. Each of the reference stations determines first navigation observables based on the received signals and transmit information associated with the first navigation observables to the augmentation server. The augmentation server is configured to determine and distribute augmentation information to a receiver. The augmentation information is based on the received information associated with the first navigation observables, locations of the reference stations, and computational models. The distributed augmentation information is usable by the receiver to determine a high-precision position, velocity, and time solution for the receiver based on second navigation observables associated with the receiver.
摘要翻译：用于创建和传送GNSS增强服务的系统，方法，设备和子组件包括用于接收由导航信标发送的信号的一个或多个参考站和耦合到参考站的增强服务器。参考站中的至少一个能够从低地球轨道卫星接收至少一个信号。每个参考站基于接收到的信号确定第一导航观测值，并将与第一导航可观测值相关联的信息发送到增强服务器。增强服务器被配置为确定并将增强信息分发给接收器。增强信息基于与第一导航可观测量相关联的接收信息，参考站的位置和计算模型。接收机可以使用分布式增强信息，以基于与接收机相关联的第二导航观测值确定接收机的高精度位置，速度和时间解。

3. 发明授权

US11513234B2 Estimating device position in multipath environments 有权
公开(公告)号：US11513234B2
公开(公告)日：2022-11-29
申请号：US16865203
申请日：2020-05-01
申请人： Apple Inc.
发明人： Mark G. Petovello , Isaac T. Miller , Kenneth M. Pesyna, Jr.
IPC分类号： G01S19/22 , G01S19/39 , G01S19/40
摘要： 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.

4. 发明授权

US11109192B2 User-specific motion model for location estimation 有权
公开(公告)号：US11109192B2
公开(公告)日：2021-08-31
申请号：US16417478
申请日：2019-05-20
申请人： Apple Inc.
发明人： Isaac T. Miller , Benjamin A. Werner , Changlin Ma , Christina Selle , Saurabh Godha , Mark G. Petovello
IPC分类号： H04W4/029
摘要： 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.

5. 发明授权

US10739140B2 Iterative estimation of non-holonomic constraints in an inertial navigation system 有权
公开(公告)号：US10739140B2
公开(公告)日：2020-08-11
申请号：US15853510
申请日：2017-12-22
申请人： Apple Inc.
发明人： Changlin Ma , Isaac T. Miller
IPC分类号： G01C21/16 , B60G17/016 , B60R21/0132 , G01S19/31 , G01C21/28 , G01S19/39 , G01S19/50 , G01S19/46 , B60W50/00
摘要： 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.

6. 发明申请

US20200084583A1 USER-SPECIFIC MOTION MODEL FOR LOCATION ESTIMATION 审中-公开
公开(公告)号：US20200084583A1
公开(公告)日：2020-03-12
申请号：US16417478
申请日：2019-05-20
申请人： Apple Inc.
发明人： Isaac T. Miller , Benjamin A. Werner , Changlin Ma , Christina Selle , Saurabh Godha , Mark G. Petovello
IPC分类号： H04W4/029
摘要： 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.

7. 发明授权

US09612340B1 Systems, methods, devices and subassemblies for creating and delivering crowd-sourced GNSS models 有权
公开(公告)号：US09612340B1
公开(公告)日：2017-04-04
申请号：US14189577
申请日：2014-02-25
申请人： Apple Inc.
发明人： Isaac T. Miller , Brent M. Ledvina
IPC分类号： G01S19/39 , G01S19/07 , G01S19/41
CPC分类号： G01S19/39 , G01S19/07 , G01S19/41
摘要： Systems, methods, devices and subassemblies for creating and delivering crowd-sourced GNSS models include receiving at one or more navigation receivers first signals transmitted by one or more navigation beacons, determining by the navigation receivers first navigation observables based on the received first signals, receiving at an augmentation server information associated with the first navigation observables, determining by the augmentation server augmentation information based on at least the received information associated with the first navigation observables and computational models, transmitting the augmentation information to the navigation receivers, receiving by the navigation receivers the augmentation information, receiving by the navigation receivers second signals transmitted by the one or more navigation beacon, determining by the navigation receivers second navigation observables based on the received second signals and determining by the navigation receivers a respective high-precision position, velocity, and time (PVT) solution based on the received augmentation information and the second navigation observables.

8. 发明申请

US20220345849A1 MOBILE DEVICE NAVIGATION SYSTEM 有权
公开(公告)号：US20220345849A1
公开(公告)日：2022-10-27
申请号：US17861167
申请日：2022-07-08
申请人： Apple Inc.
发明人： 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分类号： H04W4/024 , G06T7/73 , H04M1/724 , H04W4/02 , G06V20/10
摘要： 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.

9. 发明授权

US11441906B2 Iterative estimation of non-holonomic constraints in an inertial navigation system 有权
公开(公告)号：US11441906B2
公开(公告)日：2022-09-13
申请号：US16924104
申请日：2020-07-08
申请人： Apple Inc.
发明人： Changlin Ma , Isaac T. Miller
IPC分类号： G01C21/28 , G01S19/31 , G01C21/16 , B60G17/016 , B60R21/0132 , G01S19/39 , G01S19/50 , B60W50/00
摘要： 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.

10. 发明申请

US20160313449A1 Systems, Methods, Devices And Subassemblies For Rapid-Acquisition Access To High-Precision Positioning, Navigation And/Or Timing Solutions 审中-公开
标题翻译：用于快速采集高精度定位，导航和/或定时解决方案的系统，方法，设备和子组件
公开(公告)号：US20160313449A1
公开(公告)日：2016-10-27
申请号：US15174957
申请日：2016-06-06
申请人： Apple Inc.
发明人： Isaac T. Miller , Clark E. Cohen , Robert W. Brumley , William J. Bencze , Brent M. Ledvina , Thomas J. Holmes , Mark L. Psiaki
IPC分类号： G01S19/25 , G01S19/26
CPC分类号： G01S19/256 , G01S19/13 , G01S19/26 , G01S19/43 , G01S19/46
摘要： Position, navigation and/or timing (PNT) solutions may be provided with levels of precision that have previously and conventionally been associated with carrier phase differential GPS (CDGPS) techniques that employ a fixed terrestrial reference station or with GPS PPP techniques that employ fixed terrestrial stations and corrections distribution networks of generally limited terrestrial coverage. Using techniques described herein, high-precision PNT solutions may be provided without resort to a generally proximate, terrestrial ground station having a fixed and precisely known position. Instead, techniques described herein utilize a carrier phase model and measurements from plural satellites (typically 4 or more) wherein at least one is a low earth orbiting (LEO) satellite. For an Iridium LEO solution, particular techniques are described that allow extraction of an Iridium carrier phase observables, notwithstanding TDMA gaps and random phase rotations and biases inherent in the transmitted signals.
摘要翻译：位置，导航和/或定时（PNT）解决方案可以具有以前和传统上与使用固定地面参考站的载波相位差GPS（CDGPS）技术或采用固定地面的GPS PPP技术相关联的精度水平车站和修正分布网络的普遍有限的地面覆盖。使用本文描述的技术，可以提供高精度PNT解决方案，而不需要借助于具有固定和精确已知位置的基本接近的地面站。相反，本文描述的技术利用来自多个卫星（通常为4个或更多个）的载波相位模型和测量，其中至少一个是低地球轨道（LEO）卫星。对于铱星LEO解决方案，描述了允许提取铱载体相可观察的特定技术，尽管TDMA间隙和随机相位旋转以及传输信号中固有的偏置。

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