Abstract: In an aspect, a user device or a server may obtain a global navigation satellite system (GNSS) position of the user device, a sensor-based trajectory of the user device, or both. The user device or the server may filter map data indicating possible routes of the user device based on one or more criteria associated with the GNSS position, the sensor-based trajectory, or both to obtain filtered map data. The user device or the server may determine a position estimate for the user device based on the filtered map data.

Abstract: Aspects presented herein may improve the performance of positioning devices by enabling the positioning devices to utilize transformed map data with limited third party knowledge of the transformation. Aspects presented herein may enable a positioning device to make the map data from another coordinate system usable for positioning algorithms without knowledge of the transformation. In one aspect, a UE transmits a request for map data based on a first set of coordinates in a first coordinate system. The UE receives the map data based on a second set of coordinates in a second coordinate system, where the first set of coordinates in the first coordinate system is distinct from the second set of coordinates in the second coordinate system. The UE calculates a set of relative distances between the second set of coordinates and one or more objects corresponding to the map data.

Abstract: A scanning probe microscope and method for resonance-enhanced detection using the scanning probe microscope uses a light source that is modulated in a range of frequencies to irradiate an interface between a probe tip of the microscope and a sample with modulated electromagnetic radiation from the light source. The vibrational response of the driven cantilever in response to the modulated electromagnetic radiation at the interface between the probe tip and the sample is then detected. The amplitude of the vibrational response of the cantilever over the entire range of modulation frequencies is measured to derive a photo-induced force microscope (PiFM) value.

Abstract: Aspects presented herein may enable a positioning device or entity to perform PR measurement error detection and classification based on SV geometry via ML. In one aspect, a UE or a location server determines for each SV of a set of SVs at least a geometric orientation with respect to the UE. The UE or the location server determines, based on an ML classifier and the determined geometric orientation with respect to the UE for each SV of at least a subset of the set of SVs, a relative PR weight for each SV of the set of SVs. The UE or the location server estimates a position of the UE based on PR measurements of each SV of the set of SVs and the relative PR weight for each SV of the set of SVs.

Abstract: Aspects presented herein may improve the performance and accuracy of GNSS-based positioning, where a position-grid based ML may be implemented by a UE or a location server to improve the accuracy of identifying a warm-start position of the UE. In one aspect, a UE or a location server determines, for each grid point within a range of an initial position of a UE, a set of PR residuals based on PRs for each SV of a set of SVs. The UE or the location server determines an estimated position of the UE based on the sets of determined PR residuals.

Abstract: Aspects presented herein may enable an electronic device to determine gyroscope biases and calibrate a gyroscope without a magnetometer or without relying on data generated from a magnetometer. In one aspect, an apparatus estimates a set of gyroscopic biases for a plurality of temperatures or temperature ranges to create a mapping that maps the plurality of temperatures or temperature ranges to the set of gyroscopic biases. The apparatus monitors temperatures of a gyroscope via a gyroscope temperature sensor. The apparatus calibrates the gyroscope in response to the gyroscope changing from a first temperature to a second temperature based on the mapping or based on a predicted value derived from the mapping. In some aspects, the apparatus calculates a DR trajectory of the apparatus based at least in part on the calibrated gyroscope and the accelerometer without using a magnetometer or without using data generated from the magnetometer.

Abstract: A mobile device in a moving vehicle initializes a Global Navigation Satellite System (GNSS)-Inertial Navigation System (INS) system while the vehicle is in-motion with the orientation of the mobile device with respect to a global reference frame. The mobile device uses gyroscope measurements made while the vehicle is turning to determine a gravity vector. The gravity vector and accelerometer measurements may be used to determine a forward vector for the mobile device. A north vector is determined using the GNSS measurements. After the GNSS-INS system is calibrated, the mobile device may be positioned with respect to the vehicle. The orientation of the mobile device, prior to repositioning, may be compared to a current orientation, determined while the vehicle is in motion, in order to determine whether the GNSS-INS system should be re-initialized.

Abstract: Techniques are provided for determining a location of a mobile device based on visual positioning solution (VPS). An example method for determining a position estimate of a mobile device includes obtaining sensor information, detecting one or more identifiable features in the sensor information, determining a range to at least one of the one or more identifiable features, obtaining coarse map information, determining a location of the at least one of the one or more identifiable features based on the coarse map information, and determining the position estimate for the mobile device based at least in part on the range to the at least one of the one or more identifiable features.

Abstract: A mobile device in a moving vehicle initializes a Global Navigation Satellite System (GNSS)-Inertial Navigation System (INS) system while the vehicle is in-motion with the orientation of the mobile device with respect to a global reference frame. The mobile device uses gyroscope measurements made while the vehicle is turning to determine a gravity vector. The gravity vector and accelerometer measurements may be used to determine a forward vector for the mobile device. A north vector is determined using the GNSS measurements. After the GNSS-INS system is calibrated, the mobile device may be positioned with respect to the vehicle. The orientation of the mobile device, prior to repositioning, may be compared to a current orientation, determined while the vehicle is in motion, in order to determine whether the GNSS-INS system should be re-initialized.

Abstract: Techniques are provided for determining a location of a mobile device based on visual positioning solution (VPS). An example method for determining a position estimate of a mobile device includes obtaining sensor information, detecting one or more identifiable features in the sensor information, determining a range to at least one of the one or more identifiable features, obtaining coarse map information, determining a location of the at least one of the one or more identifiable features based on the coarse map information, and determining the position estimate for the mobile device based at least in part on the range to the at least one of the one or more identifiable features.

Abstract: Aspects presented herein may enable an electronic device to determine gyroscope biases and calibrate a gyroscope without a magnetometer or without relying on data generated from a magnetometer. In one aspect, an apparatus estimates a set of gyroscopic biases for a plurality of temperatures or temperature ranges to create a mapping that maps the plurality of temperatures or temperature ranges to the set of gyroscopic biases. The apparatus monitors temperatures of a gyroscope via a gyroscope temperature sensor. The apparatus calibrates the gyroscope in response to the gyroscope changing from a first temperature to a second temperature based on the mapping or based on a predicted value derived from the mapping. In some aspects, the apparatus calculates a DR trajectory of the apparatus based at least in part on the calibrated gyroscope and the accelerometer without using a magnetometer or without using data generated from the magnetometer.

Abstract: A packer for anchoring and sealing to a tubular in a well, the packer including a packer element, an anchoring arrangement, a setting mechanism and a release mechanism. The release mechanism holds a thin-walled section of tubing in the packer in tension using a biasing mechanism. On severing the tubing, the bias releases an engagement mechanism which allows the anchor arrangement and the packing element to move relative to the body and thereby unset the packer. An embodiment of a dual bore packer is described. A method of well isolation is described, with an assembly including the dual bore packer. The primary bore forms the short string and a secondary bore forms the long string. By severing the short string the integrity of the long string is maintained to pull lower devices on the long string and the short string does not require tension below the packer to release.

Abstract: A scanning probe microscope and method for resonance-enhanced detection using the scanning probe microscope uses a light source that is modulated in a range of frequencies to irradiate an interface between a probe tip of the microscope and a sample with modulated electromagnetic radiation from the light source. The vibrational response of the driven cantilever in response to the modulated electromagnetic radiation at the interface between the probe tip and the sample is then detected. The amplitude of the vibrational response of the cantilever over the entire range of modulation frequencies is measured to derive a photo-induced force microscope (PiFM) value.

Abstract: Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.

Abstract: Techniques are provided for determining a location of a mobile device based on visual positioning solution (VPS). An example method for determining a position estimate of a mobile device includes obtaining sensor information, detecting one or more identifiable features in the sensor information, determining a range to at least one of the one or more identifiable features, obtaining coarse map information, determining a location of the at least one of the one or more identifiable features based on the coarse map information, and determining the position estimate for the mobile device based at least in part on the range to the at least one of the one or more identifiable features.

Abstract: Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.

Abstract: A packer for anchoring and sealing to a tubular in a well, the packer including a packer element, an anchoring arrangement, a setting mechanism and a release mechanism. The release mechanism holds a thin-walled section of tubing in the packer in tension using a biasing mechanism. On severing the tubing, the bias releases an engagement mechanism which allows the anchor arrangement and the packing element to move relative to the body and thereby unset the packer. An embodiment of a dual bore packer is described. A method of well isolation is described, with an assembly including the dual bore packer. The primary bore forms the short string and a secondary bore forms the long string. By severing the short string the integrity of the long string is maintained to pull lower devices on the long string and the short string does not require tension below the packer to release.

Abstract: A UE includes: at least one sensor configured to provide at least one sensor measurement; and a processor configured to: determine first and second ranges between the UE and a positioning signal source based on first and second positioning signal measurements of first and second positioning signals from the positioning signal source corresponding to first and second times; determine whether a selected range of the first range or the second range is a multipath range based on the first range, the second range, and movement of the UE between the first time and the second time indicated by the at least one sensor measurement; and discount use of the selected range in a positioning technique in response to the selected range being determined to be a multipath range.

Abstract: The method includes installing a system for inspecting the core shroud on the core shroud, driving the system horizontally around the core shroud, and using a sensor of the system to inspect the core shroud, where the system includes a trolley, an arm, a tether, and a remotely operated vehicle (ROV) for inspecting the core shroud. The ROV includes a body configured to be operatively connected to the tether, and the sensor is configured to be operatively connected to the body, and configured to provide inspection information of the core shroud. The arm is configured to be operatively connected to the trolley. The ROV is configured to be operatively connected to the arm via the tether, and the tether is configured to provide vertical position information for the ROV relative to the outer surface of the core shroud.

Abstract: Methods, systems, computer-readable media, and apparatuses for vehicular navigation are presented. Some configurations include computing a first attitude of a vehicle with respect to a reference frame at a first epoch; based on measurement data from an inertial navigation system (INS) of the vehicle, computing an attitude of the INS at a second epoch that is subsequent to the first epoch; based on the computed attitude of the INS and the computed first attitude of the vehicle, computing a second attitude of the vehicle at the second epoch; applying a constraint to the computed second attitude of the vehicle to produce an updated second attitude of the vehicle; and based on the updated second attitude of the vehicle, computing an updated attitude of the INS. Applications relating to road vehicular (e.g., automobile) use are described.