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1. 发明申请

WO2017058340A9 SYSTEM AND METHOD FOR LOCALIZATION AND TRACKING USING GNSS LOCATION ESTIMATES, SATELLITE SNR DATA AND 3D MAPS 审中-公开
公开(公告)号：WO2017058340A9
公开(公告)日：2017-05-04
申请号：PCT/US2016042588
申请日：2016-07-15
申请人： UNIV CALIFORNIA
发明人： IRISH ANDREW , ISAACS JASON , MADHOW UPAMANYU
IPC分类号： G01S19/42 , G01S19/24
CPC分类号： G01S19/22 , G01S19/42 , G01S19/425 , G01S19/428 , G01S19/46
摘要： A method of determining location of a user device includes receiving global navigation satellite system (GNSS) fix data that represents GNSS calculated position of the user device. The method further includes receiving signal strength data associated with each satellite communicating with the user device, and receiving map information regarding environment surrounding the user device. The received GNSS fix data and signal strength data is provided to a non-linear filter, wherein the non-linear filter fuses the GNSS fix data and signal strength data to generate an updated position estimate of the user device. In addition, the non-linear filter utilizes probabilistic shadow matching estimates that represent a likelihood of received signal strength data as a function of hypothesized user device locations within the environment described by the received map information.

2. 发明申请

WO2017058340A3 SYSTEM AND METHOD FOR LOCALIZATION AND TRACKING USING GNSS LOCATION ESTIMATES, SATELLITE SNR DATA AND 3D MAPS 审中-公开
标题翻译：使用GNSS位置估计，卫星SNR数据和3D地图进行定位和跟踪的系统和方法
公开(公告)号：WO2017058340A3
公开(公告)日：2017-06-01
申请号：PCT/US2016042588
申请日：2016-07-15
申请人： UNIV CALIFORNIA
发明人： IRISH ANDREW , ISAACS JASON , MADHOW UPAMANYU
IPC分类号： G01S19/42 , G01S19/24
CPC分类号： G01S19/22 , G01S19/42 , G01S19/425 , G01S19/428 , G01S19/46
摘要： A method of determining location of a user device includes receiving global navigation satellite system (GNSS) fix data that represents GNSS calculated position of the user device. The method further includes receiving signal strength data associated with each satellite communicating with the user device, and receiving map information regarding environment surrounding the user device. The received GNSS fix data and signal strength data is provided to a non-linear filter, wherein the non-linear filter fuses the GNSS fix data and signal strength data to generate an updated position estimate of the user device. In addition, the non-linear filter utilizes probabilistic shadow matching estimates that represent a likelihood of received signal strength data as a function of hypothesized user device locations within the environment described by the received map information.
摘要翻译：确定用户设备的位置的方法包括接收表示用户设备的GNSS计算的位置的全球导航卫星系统（GNSS）固定数据。该方法还包括接收与每个与用户设备通信的卫星相关的信号强度数据，并且接收关于用户设备周围的环境的地图信息。接收的GNSS固定数据和信号强度数据被提供给非线性滤波器，其中非线性滤波器将GNSS固定数据和信号强度数据融合以生成用户设备的更新的位置估计。另外，非线性滤波器利用概率阴影匹配估计，其表示接收信号强度数据的可能性，作为由所接收地图信息描述的环境内的假定用户设备位置的函数。

3. 发明申请

WO2015126499A3 SYSTEMS AND METHODS FOR GNSS SNR PROBABILISTIC LOCALIZATION AND 3-D MAPPING 审中-公开
标题翻译：用于GNSS SNR概率定位和3-D映射的系统和方法
公开(公告)号：WO2015126499A3
公开(公告)日：2015-10-15
申请号：PCT/US2014068220
申请日：2014-12-02
申请人： UNIV CALIFORNIA
发明人： IRISH ANDREW , ISAACS JASON , QUITIN FRANCOIS , HESPANHA JOAO , MADHOW UPAMANYU
IPC分类号： G01C21/24 , G01C21/12
CPC分类号： G01C21/005 , G01S19/22
摘要： Various embodiments each include at least one of systems, methods, devices, and software for GNSS simultaneous localization and mapping (SLAM). The disclosed techniques demonstrate that simultaneous localization and mapping (SLAM) can be performed using only GNSS SNR and geo-location data, collectively termed GNSS data henceforth. A principled Bayesian approach for doing so is disclosed. A 3-D environment map is decomposed into a grid of binary-state cells (occupancy grid) and the receiver locations are approximated by sets of particles. Using a large number of sparsely sampled GNSS SNR measurements and receiver/satellite coordinates (all available from off-the-shelf GNSS receivers), likelihoods of blockage are associated with every receiver-to-satellite beam. Loopy Belief Propagation is used to estimate the probabilities of each cell being occupied or empty, along with the probability of the particles for each receiver location.
摘要翻译：各种实施例各自包括用于GNSS同时定位和映射（SLAM）的系统，方法，设备和软件中的至少一个。所公开的技术证明可以仅使用GNSS SNR和地理位置数据来执行同时定位和映射（SLAM），以下统称为GNSS数据。披露了一个原则性的贝叶斯方法。一个3-D环境地图被分解成一个二元状态单元网格（占用网格），接收器位置通过粒子集合近似。使用大量稀疏采样的GNSS SNR测量和接收器/卫星坐标（全部可从现成的GNSS接收器获得），阻塞的可能性与每个接收器到卫星波束相关联。 Loopy Belief Propagation用于估计每个被占用或空的单元的概率以及每个接收器位置的粒子概率。

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