Differential Correction; E.g., Dgps [differential Gps] (ipc) Patents (Class 342/357.24)
  • Patent number: 10859389
    Abstract: The present disclosure relates to generation of a safe navigation path for a vehicle. The safe navigation path is generated by a navigation path generation system. The navigation path generation system receives a reference path from a source location to a destination location. Further, generates scan lines from the reference path to the boundaries present on either side of the reference path. Further, the navigation path generation system generates segment along the boundaries. Further, using the generated segments the navigation path generation system generates a safe navigation path along the centre, between the boundaries present on either side of the reference path. Navigation of the vehicle along the safe path ensures the safety of the vehicle and the people in the vehicle especially when the vehicle is an autonomous or semi-autonomous vehicle.
    Type: Grant
    Filed: February 21, 2018
    Date of Patent: December 8, 2020
    Assignee: Wipro Limited
    Inventors: Balaji Sunil Kumar, Manas Sarkar
  • Patent number: 10859380
    Abstract: The invention relates to an alignment method based on a simplified mode allowing processing using an invariant Kalman filter, in which each speed involved in the navigation equations is expressed in a work reference frame (Rt) translated with respect to an inertial reference frame (Ri) and for which the origin moves along a reference inertial trajectory, the carrier of which is assumed to be close (geographic origin for alignment with the sun at known position, GPS trajectory for alignment in-motion, etc.). This simplified mode comprises the repetition of the following steps to estimate a mobile carrier state (P): —propagation (PROP) determining an estimated current state from a preceding estimated state, inertial sensor measurements and theoretical information on the carrier trajectory (P) —updating (MAJ) the estimated state using theoretical information on the carrier trajectory (P). The deterministic uncertainties of the sensors (bias/drift/scale factors, etc.
    Type: Grant
    Filed: November 24, 2014
    Date of Patent: December 8, 2020
    Assignees: SAFRAN ELECTRONICS & DEFENSE, ASSOCIATION POUR LA RECHERCHE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS—A.R.M.I.N.E.S.
    Inventors: Axel Barrau, Silvere Bonnabel
  • Patent number: 10845796
    Abstract: An electronic control unit for a vehicle for switching vehicle control from an autonomous driving mode includes one or more processors, network interface hardware configured to communicate with a remote server over a network, and one or more memory modules that store logic. The electronic control unit executes logic to determine that the autonomous driving mode of the vehicle will terminate, determine that a driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving, transfer control of the vehicle to a remote operator over the network interface hardware for a first time period, generate an alert to the driver to take manual control of the vehicle, and transfer control of the vehicle to one of the driver and the autonomous driving mode after the first time period has elapsed.
    Type: Grant
    Filed: October 18, 2018
    Date of Patent: November 24, 2020
    Assignee: TOYOTA RESEARCH INSTITUTE, INC.
    Inventors: Nikolaos Michalakis, Stephanie Paepcke
  • Patent number: 10821979
    Abstract: A method and a device for automatically reversing a vehicle are provided. A forward track of a target vehicle is recorded in a forward process of the target vehicle. The target vehicle is controlled to be reversed from a current position and the target vehicle is controlled to be reversed along the forward track by adjusting a steering wheel angle of the target vehicle at each reversing moment, when an automatic reversing instruction for the target vehicle is detected after the target vehicle stops moving forward. The target vehicle is controlled to stop being reversed when a reversing stop instruction for the target vehicle is detected in a reversing process.
    Type: Grant
    Filed: August 25, 2018
    Date of Patent: November 3, 2020
    Assignee: NEUSOFT REACH AUTOMOTIVE TECHNOLOGY (SHANGHAI) CO., LTD.
    Inventors: Wei Liu, Wei Liu
  • Patent number: 10813267
    Abstract: A control apparatus for an automatic traveling vehicle includes a position sensor and circuitry. The position sensor is to detect a vehicle position of the automatic traveling vehicle. The circuitry is configured to control the automatic traveling vehicle to travel along a first route, a first turn route connected to the first route, a straight route connected to the first turn route, a second turn route connected to the straight route, and a second route connected to the second turn route in this order, and to calculate the straight route extending from a reference point on the first turn route to the second turn route such that the straight route is tangent to the second turn route.
    Type: Grant
    Filed: April 19, 2018
    Date of Patent: October 27, 2020
    Assignee: KUBOTA CORPORATION
    Inventors: Atsushi Shinkai, Kazuo Sakaguchi, Kotaro Yamaguchi, Hiroki Suga
  • Patent number: 10795369
    Abstract: Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
    Type: Grant
    Filed: January 15, 2019
    Date of Patent: October 6, 2020
    Assignee: AUTONOMOUS SOLUTIONS INC.
    Inventor: Matthew D. Berkemeier
  • Patent number: 10761215
    Abstract: A code positioning part calculates a position of a subject vehicle and a receiver clock based on an orbit of a GNSS satellite in which an error indicated by a positioning reinforcing signal is corrected and a first corrected pseudorange being a pseudorange of the GNSS satellite in which an error indicated by the positioning reinforcing signal is corrected. A receiver clock bias error correction part determines a difference between a two-point range between a position of each of a plurality of GNSS satellites and the position of the subject vehicle and the first corrected pseudorange as an unknown error, and determines a receiver clock bias error of the pseudorange based on the unknown error. A code positioning correction part recalculates the position of the subject vehicle, using a second corrected pseudorange that is obtained by correcting the first corrected pseudorange using the receiver clock bias error.
    Type: Grant
    Filed: March 3, 2017
    Date of Patent: September 1, 2020
    Assignee: MITSUBISHI ELECTRIC CORPORATION
    Inventors: Masashi Kido, Tadatomi Ishigami, Takashi Irie, Masatoshi Fujii, Kohei Fujimoto, Ryusuke Kinoshita
  • Patent number: 10710466
    Abstract: A method of positioning an electric vehicle, such as a battery electric vehicle, plug-in hybrid electric vehicle, or similar vehicle relative to a charging point includes receiving at the vehicle a global positioning system (GPS) signal, receiving at the vehicle a global positioning system correction signal, correcting the global positioning system signal using the global positioning system correction signal, and positioning the vehicle relative to the charging point using the corrected global positioning system signal such that the vehicle can be charged by the charging point.
    Type: Grant
    Filed: November 1, 2016
    Date of Patent: July 14, 2020
    Assignee: Ford Global Technologies, LLC
    Inventors: Donatus Andreas Josephine Kees, Anthemios Philemon Petridis
  • Patent number: 10649091
    Abstract: A Global Positioning System (GPS) receiver, a control method of the GPS receiver, and a GPS system are provided, which are capable of reducing an initial position check time using an SBAS signal transmitted from a SBAS satellite. The control method of a GPS receiver includes receiving an SBAS signal from a SBAS satellite and calculating a satellite clock and a satellite position of the GPS receiver using the received SBAS signal. The SBAS signal may contain a difference value between the ephemeris data and the almanac data of the GPS satellite. The difference value between the ephemeris data and the almanac data may include a satellite clock difference value and a satellite position difference value for the GPS satellite. Accordingly, it is possible to acquire the current position and time information more quickly and accurately, by shortening the initial position check time using the difference value between the ephemeris data and the almanac data included in the SBAS signal.
    Type: Grant
    Filed: November 21, 2017
    Date of Patent: May 12, 2020
    Assignee: KOREA AEROSPACE RESEARCH INSTITUTE
    Inventors: Jae Ik Park, Eun Sung Lee, Moon Beom Heo, Gi Wook Nam
  • Patent number: 10564072
    Abstract: A vehicle driving test apparatus includes: a fixed position terminal that is fixed at a driving course and detects a fixed GPS signal; and a vehicular position terminal that is installed in a vehicle, detects a vehicle GPS signal per a predetermined time while the vehicle moves a predetermined distance, receives the fixed GPS signal from the fixed position terminal, sets the vehicle position based on the vehicle GPS signal and the fixed GPS signal, sets a reference line based on an entering angle of the vehicle, and tests a leaning state of the vehicle through the reference line and the vehicle position that is changed per the predetermined time.
    Type: Grant
    Filed: December 6, 2017
    Date of Patent: February 18, 2020
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventor: TaeJong Kim
  • Patent number: 10564294
    Abstract: A satellite corrections generation system receives reference receiver measurement information from a plurality of reference receivers at established locations. In accordance with the received reference receiver measurement information, and established locations of the reference receivers, the system determines wide-lane navigation solutions for the plurality of reference receivers. The system also determines clusters of single-difference (SD) wide-lane floating ambiguities. A satellite wide-lane bias value for each satellite of a plurality of satellites is initially determined in accordance with fractional portions of the SD wide-lane floating ambiguities in the clusters and over-range adjustment criteria. A set of navigation satellite corrections for each satellite, including the satellite wide-lane bias value for each satellite, is generated and transmitted to navigation receivers for use in determining locations of the navigation receivers.
    Type: Grant
    Filed: March 2, 2017
    Date of Patent: February 18, 2020
    Assignee: DEERE & COMPANY
    Inventors: Liwen L. Dai, Yiqun Chen, Yujie Zhang
  • Patent number: 10551504
    Abstract: Systems and methods for sharing convergence data between GNSS receivers are disclosed. Convergence data received at a GNSS receiver via a communication connection may be utilized to determine a position of the GNSS receiver.
    Type: Grant
    Filed: October 4, 2016
    Date of Patent: February 4, 2020
    Assignee: Trimble Inc.
    Inventors: John Peake, Gregory Best, Peter Loomis
  • Patent number: 10416675
    Abstract: A line acquisition system generates a curvature profile based on initial vehicle states (starting position, heading, curvature and speed), vehicle steering capabilities (calibrated vehicle curvature and curvature rate limits), and initial vehicle position errors relative to the destination path. The curvature profile describes changes in vehicle curvature over a path distance from a current position to a destination path. The line acquisition system constructs an acquisition path from a combination of clothoid, circular arc, and straight lines corresponding with different segments of the curvature profile. The acquisition path can be displayed on a user interface allowing a vehicle operator to observe, prior to automatic steering engagement, the path the vehicle would take from a current state to the destination path.
    Type: Grant
    Filed: April 10, 2017
    Date of Patent: September 17, 2019
    Assignee: AGJUNCTION LLC
    Inventors: Tri M. Dang, Timothy J. Sullivan, Eran D. B. Medagoda
  • Patent number: 10338556
    Abstract: A system and method of describing and executing autonomous or autonomous device behaviors via a computer-implemented system incorporating a fuzzy language, a simulator, and one or more runtimes. The fuzzy language combines high level behaviors and produces a set of parameter descriptions. The parameter descriptions are behavior characteristics whose values are not yet necessarily known or selected. The parameter descriptions are used via simulation to find relevant parameters and acceptable parameter values that result or will result in the autonomous or semi-autonomous device behaving as desired.
    Type: Grant
    Filed: November 8, 2017
    Date of Patent: July 2, 2019
    Assignee: Digital Aerolus, Inc.
    Inventors: Thomas D. Williams, Ian J. McEwan, Jeffery J. Alholm
  • Patent number: 10330768
    Abstract: A method, system and device for obtaining the position of a mobile device. The method including determining a current set of possible positions of the mobile device from a distance between the mobile device and an anchor device at a current instant; determining a subsequent set of possible positions at a subsequent instant from the current set of possible positions and from a vector of movement of the mobile device at the instant; estimating the distance between the mobile device and the anchor device at the subsequent instant; obtaining a new current set of possible positions of the mobile device by selecting within the subsequent positions those which are, from the anchor device, at the distance estimated at the estimating step; and repeating the last three steps until the new current set of possible positions includes only one element.
    Type: Grant
    Filed: November 28, 2014
    Date of Patent: June 25, 2019
    Assignee: Orange
    Inventor: Martin Macuha
  • Patent number: 10324473
    Abstract: The present disclosure in the field of automobile engineering is a method and system for generating a safe navigation path for navigating a driverless vehicle. A path generating system receives one or more pre-generated paths between source point and destination point and an environmental data corresponding to each pre-generated path from one or more sources in real-time. Further, the path generating system identifies one or more navigation points in real-time based on the environmental data, vehicle capability characteristics and vehicle parameters by tracing virtual rays in a preconfigured angle range up to preconfigured distance from each of one or more originating points along each of the one or more pre-generated paths. Finally, the path generating system links the navigation points based on predefined techniques to generate the safe navigation path for navigating driverless vehicle. In the present disclosure, safe navigation path is generated without usage of any sensor.
    Type: Grant
    Filed: July 20, 2017
    Date of Patent: June 18, 2019
    Assignee: Wipro Limited
    Inventors: Manas Sarkar, Balaji Sunil Kumar, Shyam Sundar Pal
  • Patent number: 10311526
    Abstract: A management system includes an input device provided to a loading machine that performs, after a first loading work of loading a load onto a first haul machine positioned at a first loading position at a loading site of a mine is ended, a second loading work of loading a load onto a second haul machine that is already positioned, during the first loading work, at a second loading position different from the first loading position, and a processing device to which an operation signal generated by the input device is to be output, wherein the processing device specifies a start time of the second loading work based on the operation signal generated by the input device at a time when the first loading work is ended.
    Type: Grant
    Filed: August 20, 2013
    Date of Patent: June 4, 2019
    Assignee: Komatsu Ltd.
    Inventor: Koji Takeda
  • Patent number: 10242581
    Abstract: A system and method for navigating a vehicle comprising an image sensor in the absence of global positioning information is disclosed. In one embodiment, the method comprises accepting a user-selected target of an image produced by the imaging sensor, determining a difference between an optic flow due only to motion of the vehicle and the selected target of the image, determining a vehicle guidance command at least in part according to the difference between the optic flow of the selected target due to motion of the vehicle and the selected target of the image, and an estimate of a ground speed of the vehicle Vg, and commanding the vehicle at least in part according to the vehicle guidance command. Another embodiment is evidenced by an apparatus having a processor and a communicatively coupled memory storing processor instructions for performing the foregoing operations.
    Type: Grant
    Filed: October 11, 2016
    Date of Patent: March 26, 2019
    Assignee: INSITU, INC.
    Inventor: Rolf Rysdyk
  • Patent number: 10203694
    Abstract: Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
    Type: Grant
    Filed: August 28, 2017
    Date of Patent: February 12, 2019
    Assignee: Autonomous Solutions, Inc.
    Inventor: Matthew D. Berkemeier
  • Patent number: 10152862
    Abstract: A security system in accordance with an embodiment of the present invention includes a security tag operable for connection to an object, a monitoring device operable to monitor whether a party removes or attempts to remove the security tag from the object; an alarm operable to emit a tamper signal when the monitoring device indicates that a party has removed or attempted to remove the security tag from the object in an unauthorized removal condition, and a remote collector system adapted to communicate with the security tag to set the security tag in the unauthorized removal condition and an authorized removal condition, wherein upon receipt of the tamper signal, the remote collector system generates a security message.
    Type: Grant
    Filed: August 24, 2017
    Date of Patent: December 11, 2018
    Assignee: CenTrak, Inc.
    Inventors: Michael R. Lax, Agjah I. Libohova, Frederik van Koot
  • Patent number: 10133270
    Abstract: An electronic control unit for a vehicle for switching vehicle control from an autonomous driving mode includes one or more processors, network interface hardware configured to communicate with a remote server over a network, and one or more memory modules that store logic. The electronic control unit executes logic to determine that the autonomous driving mode of the vehicle will terminate, determine that a driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving, transfer control of the vehicle to a remote operator over the network interface hardware for a first time period, generate an alert to the driver to take manual control of the vehicle, and transfer control of the vehicle to one of the driver and the autonomous driving mode after the first time period has elapsed.
    Type: Grant
    Filed: March 28, 2017
    Date of Patent: November 20, 2018
    Assignee: TOYOTA RESEARCH INSTITUTE, INC.
    Inventors: Nikolaos Michalakis, Stephanie Paepcke
  • Patent number: 10126429
    Abstract: A satellite-based positioning receiver is provided that is configured to combine non-concurrent sets of pseudoranges all taken at a common location to determine at least a 2D position of the common location.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: November 13, 2018
    Assignee: ETHERWHERE CORPORATION
    Inventors: Farrokh Farrokhi, Edmund Gregory Lee, Dickson Wong
  • Patent number: 10122487
    Abstract: Systems and methods for detecting the failure of a precision time source using an independent time source are disclosed. Additionally, detecting the failure of a GNSS based precision time source based on a calculated location of a GNSS receiver is disclosed. Moreover, the system may be further configured to distribute a time derived from the precision time source as a precision time reference to time dependent devices. In the event of a failure of the precision time source, the system may be configured to distribute a time derived from a second precision time source as the precision time signal during a holdover period.
    Type: Grant
    Filed: November 11, 2016
    Date of Patent: November 6, 2018
    Assignee: Schweitzer Engineering Laboratories, Inc.
    Inventors: David E. Whitehead, Shankar V. Achanta, Henry Loehner
  • Patent number: 10026308
    Abstract: A construction machine control system for a construction machine that travels along a travel route, includes: a position detection unit that detects a position of the construction machine; a non-contact sensor that detects a position of an object around the construction machine; and a measurement output unit that detects a position of a vertical projection that protrudes vertically from a detection result of the position detection unit and a detection result of the non-contact sensor and stores the detected position of the vertical projection in a map information storage unit as map information, wherein the measurement output unit determines whether the construction machine is in a state that decreases accuracy of the map information, and when it is determined that the construction machine is in the state that decreases the accuracy of the map information, the measurement output unit stops storing the map information.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: July 17, 2018
    Assignee: Komatsu Ltd.
    Inventors: Atsushi Sakai, Mitsuhiro Ryuman, Masanori Tojima, Akiharu Nishijima
  • Patent number: 10001564
    Abstract: An embodiment disclosed a system for collaborative positioning calibration, comprising at least one reference station and at least one client. The reference station uses a known position and a satellite signal transmitted by at least one satellite to compute a pseudo-range difference of the reference station position and the satellite position, and then broadcasts an area calibration data including at least one pseudo-range difference to at least one client. Based on the area calibration data, the client computes at least one pseudo-range calibration data and outputs a calibrated position of global positioning system.
    Type: Grant
    Filed: October 24, 2013
    Date of Patent: June 19, 2018
    Assignee: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
    Inventors: Jing-Shyang Hwu, Kuan-Lin Chiu, Yung-Cheng Chao
  • Patent number: 9877011
    Abstract: An image display apparatus for converting an image into a virtual viewpoint image so that the image of an object is not distorted.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: January 23, 2018
    Assignee: Hitachi Kokusai Electric Inc.
    Inventors: Miyuki Fujii, Wataru Ito
  • Patent number: 9869555
    Abstract: A construction machine control system for a construction machine that travels along a travel route, includes: a position detection unit that detects a position of the construction machine; a determination unit that determines whether an error in the position detected by the position detection unit is equal to or smaller than a predetermined error; a non-contact sensor that detects a position of an object around the construction machine; and a map information storage unit that extracts a detection result related to a vertical projection that protrudes vertically from a detection result of the non-contact sensor and stores the extracted detection result related to the vertical projection as map information when the determination unit determines that the error in the position detected by the position detection unit is equal to or smaller than the predetermined error.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: January 16, 2018
    Assignee: Komatsu Ltd.
    Inventors: Atsushi Sakai, Mitsuhiro Ryuman, Masanori Tojima, Akiharu Nishijima
  • Patent number: 9846433
    Abstract: An autonomous traveling vehicle is controlled to faithfully reproduce a planned traveling route and to autonomously travel. The autonomous traveling vehicle includes a platform, a traveling unit, a teaching unit, a curvature calculation unit, and a control parameter adjustment unit. The traveling unit is mounted on the platform and controls the platform to travel. In a teaching travel mode, the teaching unit acquires subgoal points. The teaching unit stores planned traveling route data as an aggregate of the subgoal points. The curvature calculation unit calculates and stores a key curvature radius. In a reproduction travel mode, the control parameter adjustment unit adjusts a control parameter to determine an direction angle feedback control amount of the traveling unit based on the key curvature radius calculated by the curvature calculation unit.
    Type: Grant
    Filed: October 16, 2014
    Date of Patent: December 19, 2017
    Assignee: MURATA MACHINERY, LTD.
    Inventor: Shoji Tanaka
  • Patent number: 9846239
    Abstract: Methods and apparatus are provided for calculating a pseudo-range and position in a global navigation satellite system receiver. A first pseudo-range of a satellite is calculated for position determination of the global navigation satellite system receiver. A second pseudo-range of the satellite is calculated for position correction of the global navigation satellite system receiver. A differential operation is performed using the first pseudo-range and the second pseudo-range to eliminate an error. A more precise pseudo-range of the satellite is calculated using the differential pseudo-range.
    Type: Grant
    Filed: December 3, 2013
    Date of Patent: December 19, 2017
    Assignee: Samsung Electronics Co., Ltd
    Inventor: JaeBum Cho
  • Patent number: 9829561
    Abstract: Disclosed herein are embodiments of a balloon-based positioning system and method. In one example embodiment, a system includes a group of at least three balloons deployed in the stratosphere and a control system configured for: determining a first set of spatial relationships relating to the group; determining a second set of spatial relationships relating to at least a portion of the group and to a reference point; determining a position of the reference point relative to the earth; using the determined first set, the determined second set, and the determined position of the reference point relative to the earth as a basis for determining a position of a target balloon in the group relative to the earth; and transmitting the determined position of the target balloon relative to the earth.
    Type: Grant
    Filed: September 4, 2013
    Date of Patent: November 28, 2017
    Assignee: X Development LLC
    Inventors: Keith Bonawitz, Richard Wayne Devaul, Eric Teller, Joshua Weaver
  • Patent number: 9829574
    Abstract: Systems and methods for performing distance and velocity measurements, such as by using carrier signals, are disclosed. A measurement system device may include a first antenna configured to receive a first signal from a transmitting device, the first signal having a carrier frequency, and a second antenna configured to receive the first signal from the transmitting device. The measurement system device may also include a processor configured to determine a first differential distance between the first antenna and the second antenna from the transmitting device and to determine a rate of change of the first differential distance. The processor may also be configured to estimate a geometry of the measurement system device relative to the transmitting device using the rate of change of the first differential distance.
    Type: Grant
    Filed: June 2, 2014
    Date of Patent: November 28, 2017
    Assignee: ENSCO, INC.
    Inventors: David W. A. Taylor, Jr., Bradley David Farnsworth, Edward Joseph Kreinar
  • Patent number: 9810788
    Abstract: Positioning systems and methods for estimating an altitude of a receiver. In some embodiments, pressure and temperature information from a network of sensors is received by the receiver, and the pressure and temperature information from the network of sensors is used along with pressure information measured at a position of the receiver to estimate the altitude of the receiver.
    Type: Grant
    Filed: April 26, 2015
    Date of Patent: November 7, 2017
    Assignee: NextNav, LLC
    Inventors: Arun Raghupathy, Subramanian S. Meiyappan, Thomas Wolf
  • Patent number: 9807556
    Abstract: A locator system and method of use is disclosed. The locator system may be used to receive radiolocation signals, calculate location data based on the radiolocation signals, and send the current location data over a telecommunication network to a server computer. A client may request the location data from the server computer and the server may send the location data to the client.
    Type: Grant
    Filed: December 28, 2015
    Date of Patent: October 31, 2017
    Inventor: Bryan Holland
  • Patent number: 9805217
    Abstract: Embodiments described herein may help to protect users' privacy when storing and/or utilizing location data that is provided by the users' mobile devices. An example method may involve: (a) determining a location history associated with a first client device, wherein the location history comprises a plurality of time-stamped location reports associated with the first client device, (b) before the location history is exported: (i) identifying at least one stop in the location history, wherein the at least one stop corresponds to a plurality of location reports that indicate a substantial lack of movement by the first client device, and (ii) scrubbing the location history in order to obscure at least one location report that corresponds to the at least one stop, and (c) exporting the scrubbed location history to long-term data storage.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: October 31, 2017
    Assignee: Google Inc.
    Inventors: Eli Brandt, Stephen David Zelinka
  • Patent number: 9798017
    Abstract: A first plurality of differences (first differences or second differences) of carrier phase measurements of global navigation satellite system (GNSS) signals corresponding to a first measurement epoch is received. A plurality of differences of carrier phase ambiguities of the first plurality of differences of carrier phase measurements is resolved. A first fixed position of the rover is computed. A first plurality of sub-corrections is computed based at least in part on the first fixed position of the rover, a position of the base, a position of each specific GNSS satellite, and the first plurality of differences of carrier phase measurements. The first plurality of sub-corrections is then used to reduce the processing time for ambiguity resolution of carrier phase measurements in subsequent measurement epochs. The sub-corrections can be smoothed, aged, or smoothed and aged.
    Type: Grant
    Filed: April 9, 2015
    Date of Patent: October 24, 2017
    Assignee: Topcon Positioning Systems, Inc.
    Inventors: Mark Isaakovich Zhodzishsky, Roman Anatolyevich Nevzorov, Sergey Vladislavovich Averin, Andrey Valerievich Plenkin, Viktor Abramovich Veitsel
  • Patent number: 9746854
    Abstract: Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
    Type: Grant
    Filed: April 25, 2016
    Date of Patent: August 29, 2017
    Assignee: Autonomous Solutions, Inc.
    Inventor: Matthew D. Berkemeier
  • Patent number: 9741191
    Abstract: The present disclosure is directed to a route logging system. The route logging system includes a geographic location server, a user profile server, a mobile client device, and image recording device(s). The geographic location server has access to a waypoint database. The user profile server has access to a user profile database, which includes a plurality of user profiles each including at least one route log. Each route log includes at least one waypoint image. The mobile client device is associated with one or more of the plurality of user profiles included in the user profile database. When the mobile client device determines it is within a threshold distance of a specific geographic position, the mobile client device updates the respective route log. The one or more image recording device(s) record waypoint images that can be included in route logs and associated with specific geographic positions.
    Type: Grant
    Filed: March 31, 2016
    Date of Patent: August 22, 2017
    Assignee: KYOCERA Document Solutions Inc.
    Inventor: Gregory H. Wong
  • Patent number: 9734698
    Abstract: A management system using Global Positioning System receivers for tracking remote units from a central office and quickly and conveniently determining if those remote units have varied from a set of predetermined parameters of operation. The system also includes provisions that allows information to be sent from the remote units to the central office and vice versa. The system also has safety features that promote the rapid dispatch of law enforcement personnel when requests for emergency assistance have been made from the remote units.
    Type: Grant
    Filed: May 12, 2014
    Date of Patent: August 15, 2017
    Assignee: AT&T Intellectual Property I, L.P.
    Inventors: Marvin R. Hamrick, R. T. Mitchell Ingman
  • Patent number: 9679456
    Abstract: A computer-based system, computer-implemented method, and computer-readable medium for tracking assets, such as objects and persons. The current invention involves associating a GPS-tracked tag with a targeted asset, registering a serial number associated with the tag, storing the serial number onto a database, and tracking the tag—and thus, associated asset—through the database. Authorized third parties, such as law enforcement personnel, may also access the database and track the asset, if needed, for example if the asset is stolen. The user is able to activate and deactivate the tracking ability of the tag and immediately track the tag when needed.
    Type: Grant
    Filed: September 8, 2014
    Date of Patent: June 13, 2017
    Assignee: Tracfind, Inc.
    Inventor: Clark D. East
  • Patent number: 9651667
    Abstract: Methods and apparatus for determining a precise position of a rover located within a region are presented using rover observations comprising code observations and carrier-phase observations of GNSS signals on at least two carrier frequencies over multiple epochs. Correction data is received for each of the epochs at least one code bias per satellite. Synthetic reference data is generated for each of the epochs from the correction data for a synthetic station location. A determination is made for each epoch whether a cycle slip has occurred. Upon determining that a cycle slip has occurred, values of any variables of a set of state variables which are affected by the cycle slip are reset. Each epoch of rover observations and correction data is used to estimate updated values for the set of state variables including a set of ambiguities and coordinates of a precise rover position.
    Type: Grant
    Filed: June 28, 2012
    Date of Patent: May 16, 2017
    Assignee: Trimble Inc.
    Inventors: Rodrigo Leandro, Nicholas Charles Talbot
  • Patent number: 9638529
    Abstract: In this vehicle orientation detection method detecting the orientation of a vehicle on the basis of measurement data obtained at prescribed time intervals, as long as a speed sensed by a vehicle speed sensor is less than a threshold speed, the vehicle orientation is detected on the basis of a yaw rate sensed by a yaw rate sensor. If the speed detected by the vehicle speed sensor is greater than or equal to the threshold speed, a drift determination is performed. If not determined to be in a drift state, the vehicle orientation is detected on the basis of signals received by a GPS receiver, and if determined to be in a drift state, the vehicle orientation is detected on the basis of the yaw rate sensed by the yaw rate sensor.
    Type: Grant
    Filed: January 22, 2014
    Date of Patent: May 2, 2017
    Assignee: DENSO CORPORATION
    Inventors: Yuusuke Watanabe, Yuya Higuchi
  • Patent number: 9632169
    Abstract: A method and apparatus for using inertial navigation for obtaining calibration data for an indoor positioning system are disclosed. In one embodiment, the method comprises tracking motion of a device between known locations within a structure using inertial navigation, collecting a plurality of Wi-Fi signatures with the device while tracking the motion of the device between the known locations, and matching each of the plurality of Wi-Fi signatures to a point between the known locations, where the matched Wi-Fi signatures are for use in comparing to Wi-Fi signatures being received by the indoor positioning system to identify an indoor location of a device within the structure.
    Type: Grant
    Filed: September 5, 2013
    Date of Patent: April 25, 2017
    Assignee: RICOH., LTD.
    Inventors: Jorge Moraleda, Jonathan J. Hull
  • Patent number: 9551781
    Abstract: Systems and methods can support determining a physical position of a radio transmitter. A physical model for electromagnetic signal propagation within the electromagnetic environment may be established. Radio frequency signal power levels associated with the radio transmitter may be received from one or more radio frequency sensors. Parameters associated with the physical model may be estimated for one or more test locations within the electromagnetic environment. An error metric between the received radio frequency signal power levels and the physical model may be computed for the one or more test locations. Bounds on the parameters associated with the physical model may be established to prune away physically impossible solutions. The parameters associated with the physical model may be optimized across the one or more test locations to establish a preferred location estimate for the radio transmitter.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: January 24, 2017
    Assignee: Bastille Networks, Inc.
    Inventors: Robert John Baxley, Justin Trent Altman
  • Patent number: 9544741
    Abstract: A terminal to be carried into a moving object includes a first information obtaining unit, a time stamp adding unit, a second information obtaining unit, and an integration unit. The first information obtaining unit obtains positional information of the terminal. The time stamp adding unit adds a timestamp to the positional information obtained by the first information obtaining unit. The second information obtaining unit obtains, from the moving object, the positional information of the moving object having a timestamp added in the same time unit as the timestamp added by the object time stamp adding unit. The integration unit integrates positional information having a timestamp for which no positional information has been obtained by the first information obtaining unit, selectively from the positional information obtained by the second information obtaining unit, with the positional information obtained by the second information obtaining unit.
    Type: Grant
    Filed: January 17, 2014
    Date of Patent: January 10, 2017
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventor: Junji Nishikawa
  • Patent number: 9491616
    Abstract: Embodiments described herein may help to protect users' privacy when storing and/or utilizing location data that is provided by the users' mobile devices. An example method may involve: (a) determining a location history associated with a first client device, wherein the location history comprises a plurality of time-stamped location reports associated with the first client device, (b) before the location history is exported: (i) identifying at least one stop in the location history, wherein the at least one stop corresponds to a plurality of location reports that indicate a substantial lack of movement by the first client device, and (ii) scrubbing the location history in order to obscure at least one location report that corresponds to the at least one stop, and (c) exporting the scrubbed location history to long-term data storage.
    Type: Grant
    Filed: October 6, 2015
    Date of Patent: November 8, 2016
    Assignee: Google Inc.
    Inventors: Eli Brandt, Stephen David Zelinka
  • Patent number: 9470528
    Abstract: An aircraft synthetic vision display system (SVS) includes a topographical database including topographical information relating to an airport, a global positioning system receiver that receives a satellite signal from a global positioning satellite to determine a geographical position of the aircraft, and a ground-based augmentation system receiver that receives a ground-based signal from a ground-based transmitter associated with the airport, wherein the ground-based signal includes geographical information associated with the airport. The SVS further includes a computer processor that retrieves the topographical information from the topographical database based on the geographical position of the aircraft, that retrieves the geographical information associated with the airport, and that corrects the topographical information using the geographical information associated with the airport to generate corrected topographical information.
    Type: Grant
    Filed: March 26, 2015
    Date of Patent: October 18, 2016
    Assignee: HONEYWELL INTERNATIONAL INC.
    Inventors: Guoqing Wang, Bin Zhang, Lin Du
  • Patent number: 9350416
    Abstract: Techniques for frequency-hopping sequence-generation are described herein. In one example, a sequence of pseudo random numbers may be used to generate a scrambling sequence. The scrambling sequence may be used to map an unscrambled sequence of channels into a scrambled sequence of channels. Channel-repeats may be detected in the scrambled sequence of channels and resolved. Channel whitening may be performed to reduce channel overuse resulting from the channel-repeat resolutions. The scrambled sequence of channels may be provided to a radio to enable the radio to tune to the channels indicated by the scrambled sequence of channels.
    Type: Grant
    Filed: December 2, 2014
    Date of Patent: May 24, 2016
    Assignee: Itron France
    Inventor: Gilles Picard
  • Patent number: 9322919
    Abstract: Provided is a satellite based augmentation system comprising: a threshold value calculation unit which calculates a monitoring threshold value for determining whether or not a value of carrier to noise power density ratio (C/No) at a time when a pseudorange is measured on the basis of a signal from a GPS satellite is proper; and a pseudorange determination unit which determines whether or not the pseudorange has proper accuracy by comparing the C/No value and the monitoring threshold value.
    Type: Grant
    Filed: August 26, 2011
    Date of Patent: April 26, 2016
    Assignee: NEC CORPORATION
    Inventors: Ryuichiro Iwasaki, Yutaka Nozaki
  • Patent number: 9281559
    Abstract: A system for aligning two ground-based antennae (100, 110) or a ground-based antenna (100) and a satellite antenna (110), for use in military and civilian settings, in which a visual display is generated showing a graphical representation of the antennae including graphical representations indicating both the axis of the main lobe (102) and the approximate radiation pattern (414) of the antennae, superimposed over a live imaging of the local terrain. The alignment is achieved when the graphical representations of the main axis and radiation patterns of the two antennae align with each other.
    Type: Grant
    Filed: November 29, 2011
    Date of Patent: March 8, 2016
    Assignee: Harris Corporation
    Inventors: Nathan Ransom, Myung Lee
  • Patent number: 9271439
    Abstract: An air seeder includes a combination tank propulsion vehicle with mounted product tanks, and metering devices dispensing product from each product tank. A furrow opener implement is towed by the vehicle and an engine rotates the vehicle wheels and two or more implement wheels. A pneumatic distribution system conveys dispensed products to the furrow openers. The external guidance system sends location signals indicating a location of the implement frame to the operator. Steering, metering, and distribution signals are sent by both the external guidance system and an operator with a remote operator control, and operator signals override signals from the external guidance system.
    Type: Grant
    Filed: January 24, 2014
    Date of Patent: March 1, 2016
    Assignee: Bourgault Industries Ltd.
    Inventors: Gerard Bourgault, Mark Cresswell, Bob Cochran, Scot Jagow