Abstract: A method, apparatus and computer program product provide for error mitigation in an inertial navigation system (INS) based upon centripetal acceleration experienced by a vehicle that carries the INS. In the context of a method, the centripetal acceleration experienced by a vehicle carrying the INS that is making a turn is determined. The method also includes determining a velocity of the vehicle in reliance upon the centripetal acceleration. Based on the velocity determined in reliance upon the centripetal acceleration, the method further includes updating one or more filters of the INS to correct a velocity estimate provided by the INS.

Abstract: A method, apparatus and computer program product are configured to mitigate error in an inertial navigation system (INS) that relies upon a reference system to determine or update filter parameters. In a method, a determination is made of (i) deviation or divergence of a filter of the INS and/or (ii) invalidity of observation(s) by the reference system. The method also identifies the filter parameters from a history buffer associated with a prior point in time at which performance of the filter is stable. The filter parameters were updated at least once based upon observation(s) by the reference system after the prior point in time. The method forward processes sensor samples of the INS obtained subsequent to the prior point in time using the filter parameters from the history buffer at which performance of the filter was stable to mitigate the error.

Abstract: A method, apparatus and computer program product are configured to re-estimate misalignment between the body frame of an inertial measurement unit (IMU) and the vehicle frame following movement of a mobile device embodying the sensor(s) of the IMU relative to the vehicle. In a method, movement of the mobile device relative to the vehicle is detected. In response to detecting movement of the mobile device relative to the vehicle, the method identifies (i) a point in time prior to or corresponding to commencement of movement of the mobile device relative to the vehicle and (ii) a subsequent point in time at which the mobile device is stable relative to the vehicle. The method then determines the frame orientation between body and vehicle frames. Based upon the determined frame orientation between body and vehicle frames, the method also includes determining a navigation solution for the vehicle in reliance upon non-holonomic constraints.

Abstract: An approach is provided for capturing an image sequence for a visual positioning service request. The approach involves, for example, retrieving sensor data collected from one or more sensors of a device. The approach also involves processing the sensor data to estimate a motion, a pose, a gesture, or a combination thereof associated with the device. The approach further involves initiating an automatic capture of a sequence of at least two images by a camera sensor of the device based on determining that the motion, the pose, or a combination thereof meets one or more predetermined criteria. The approach further involves providing the sequence of the least two images, one or more features extracted from the sequence of the least two images, or a combination thereof as an output to generate a visual positioning service request.

Abstract: A method, apparatus, and computer program product are provided for generating an indoor map of an area. The method includes receiving location information from a positioning system configured to determine the position of one or more components within the area. The method also includes generating an overview map defining one or more boundaries of the area. The method further includes receiving map creation information from a map creation asset configured to designate at least a subset of the area as a specific type of room. The method still further includes generating the indoor map of the area based on the overview map and the map creation information. The method further includes receiving room configuration information based on a prompt. The method still further includes updating the indoor map of the area based on the room configuration information. Corresponding apparatus and computer program product are provided.

Abstract: A method, performed by at least one apparatus, is provided that includes obtaining, at a wireless access point, radio map data which enables a determination of characteristics of radio signals transmitted by the wireless access point. The characteristics of the radio signals are expected to be observable at different locations. Additionally, the method includes repeatedly providing, by the wireless access point, one or more identifiers of the wireless access point. The one or more identifiers include the radio map data or a part thereof to enable mobile devices receiving the one or more identifiers to determine their position based on the radio map data.

Abstract: A method, performed by at least one apparatus, is provided that includes obtaining, at a wireless access point, radio map data which enables a determination of characteristics of radio signals transmitted by the wireless access point. The characteristics of the radio signals are expected to be observable at different locations. Additionally, the method includes repeatedly providing, by the wireless access point, one or more identifiers of the wireless access point. The one or more identifiers include the radio map data or a part thereof to enable mobile devices receiving the one or more identifiers to determine their position based on the radio map data.

Abstract: In a system a map of a site is presented on a display. A user input specifying at least one path section in the map on the display is detected. A definition of the at least one path section is stored. A representation of a radio environment stored for the site is provided as positioning assistance data. The representation of the radio environment enables a determination of a location estimate for a mobile device at the site based on at least one characteristic of at least one radio signal detected by the mobile device at the site. The definition of the at least one specified path section is provided for enabling an adjustment of a determined location estimate.

Abstract: A device obtains at least one characteristic of at least one radio signal detected at a mobile device that is located at a particular site and a representation of a radio environment for the site and a definition of at least one specified path section for the site. The at least one path section has been specified by a person in a map presented on a display. The device determines a location estimate for the mobile device based on the at least one characteristic of the at least one radio signal and based on the representation of the radio environment for the site and adjusts the determined location estimate based on the definition of at least one specified path section.

Abstract: In a system a map of a site is presented on a display. A user input specifying at least one path section in the map on the display is detected. A definition of the at least one path section is stored. A representation of a radio environment stored for the site is provided as positioning assistance data. The representation of the radio environment enables a determination of a location estimate for a mobile device at the site based on at least one characteristic of at least one radio signal detected by the mobile device at the site. The definition of the at least one specified path section is provided for enabling an adjustment of a determined location estimate.

Abstract: A device obtains at least one characteristic of at least one radio signal detected at a mobile device that is located at a particular site and a representation of a radio environment for the site and a definition of at least one specified path section for the site. The at least one path section has been specified by a person in a map presented on a display. The device determines a location estimate for the mobile device based on the at least one characteristic of the at least one radio signal and based on the representation of the radio environment for the site and adjusts the determined location estimate based on the definition of at least one specified path section.

Abstract: At least one set of values of parameters is determined, each set of values defining a respective troposphere model. The at least one determined set of parameter values is then assembled for transmission via a wireless communication network to a wireless terminal as assistance data for an assisted satellite based positioning of the wireless terminal.

Abstract: At least one set of values of parameters is determined, each set of values defining a respective troposphere model. The at least one determined set of parameter values is then assembled for transmission via a wireless communication network to a wireless terminal as assistance data for an assisted satellite based positioning of the wireless terminal.

Abstract: At least one set of values of parameters is determined, each set of values defining a respective troposphere model. The at least one determined set of parameter values is then assembled for transmission via a wireless communication network to a wireless terminal as assistance data for an assisted satellite based positioning of the wireless terminal.

Abstract: A system and method for changing the weighting accelerometer filtering based upon motion sensor measurements. Using measurements from motion sensors, one or more features can be extracted. This information is used by an algorithm to assign a most appropriate test feature class to be the class of the state of motion at a particular moment in time. This information is used to provide more accurate positioning information, and can also be used to power down the motion sensor at various times, providing an improvement in battery efficiency.

Abstract: A method for updating a data base which includes positioning data and identity information of a cell, the method comprising receiving a position of a device and receiving identity information of a cell. The data base is examined to find parameter information relating to the received identity information. The parameter information is retrieved from the data base. It is determined whether the data base is to be updated with the position data of the device, wherein if it is determined that the data base is to be updated, the updating of the data base is performed by using the position data of the device and the value of an updating parameter is updated.

Abstract: Equipment and a method by which power consumed by a ranging receiver (12) is reduced without appreciably impairing performance of the GPS receiver (12), the method including: a step (21) in which a controller (15) reads sensor signals provided by a motion sensor (14) mechanically coupled to the ranging receiver (12); and a step (22) in which the controller (15) powers down selected components of the ranging receiver (12) based on whether the sensor signals indicate only at most insubstantial motion of the ranging receiver (12). The motion sensor is advantageously a motion sensor constructed using MEMS technology, but at any rate is of a type using so little power as to provide a power savings when used according to the invention, i.e. when it is always on and at least partially based on its sensor signals, the ranging receiver (12) is sometimes at least partially turned off.

Abstract: At least one set of values of parameters is determined, each set of values defining a respective troposphere model. The at least one determined set of parameter values is then assembled for transmission via a wireless communication network to a wireless terminal as assistance data for an assisted satellite based positioning of the wireless terminal.

Abstract: The invention relates to a time and location dependent atmosphere model and especially determining the altitude of a mobile terminal based on this model and the measured barometric pressure at the location of the terminal. The atmosphere model provides a long term, wide area barometric pressure model estimate.

Abstract: A system and method for changing the weighting accelerometer filtering based upon motion sensor measurements. Using measurements from motion sensors, one or more features can be extracted. This information is used by an algorithm to assign a most appropriate test feature class to be the class of the state of motion at a particular moment in time. This information is used to provide more accurate positioning information, and can also be used to power down the motion sensor at various times, providing an improvement in battery efficiency.