The Supplementary Measurement Being An Inertial Measurement; E.g., Tightly Coupled Inertial (ipc) Patents (Class 342/357.3)
  • Patent number: 10310090
    Abstract: Systems, methods, and machine-readable media for determining a location of a mobile device from different sources of location data is provided. The system may be configured to store current location data of a mobile device, the current location data associated with a first source of location data. The system may also be configured to obtain location data from a second source of location data, determine whether a first accuracy indicator of the current location data overlaps with a second accuracy indicator of the obtained location data from the second source, and update the current location data of the mobile device with the obtained location data from the second source if the first accuracy indicator of the current location data does not overlap with the second accuracy indicator of the obtained location data.
    Type: Grant
    Filed: January 29, 2018
    Date of Patent: June 4, 2019
    Assignee: Google LLC
    Inventors: Indika Charles Mendis, Philip Cheeran Verghese, Ana Maria Ulin Vazquez, Chris Lambert
  • Patent number: 10209076
    Abstract: Systems and a related method for internally monitored navigation replace one or more inertial reference units (IRU) of an aircraft navigation system with GNSS-assisted multi-mode receivers (MMR) including dual-antenna receivers. Each MMR may validate inertial position data generated by a remaining IRU by detecting drift errors in the inertial position data or latent faults in the IRU. The system may include, in place of one or more IRUs, attitude heading and reference systems (AHRS) incorporating lower-grade high-performance inertial sensors. Internal monitoring of the remaining IRUs or the inertial position data generated thereby may alternatively be carried out by the AHRS. Based on internal monitoring by the MMRs and/or AHRS, user display and flight control systems of an aircraft can exclude a faulty IRU, preventing the use of position solutions incorporating erroneous inertial data.
    Type: Grant
    Filed: March 29, 2017
    Date of Patent: February 19, 2019
    Assignee: Rockwell Collins, Inc.
    Inventors: Jeffrey B. McNamara, James H. Doty, Vladislav Gavrilets, Jesse W. Oltrogge
  • Patent number: 10133994
    Abstract: In a computer implemented method for management of materials on a construction site, a status of a project which uses at least one material is determined by a computer system. A report is generated by the computer system. The report identifies a vehicle, from a vehicle pool, to be utilized to move the material and defines a load of the material which is to be moved by the vehicle, according to a mass haul plan, from a first location to a second location. The vehicle is identified based on results of a simulation. The status of the project is automatically updated by the computer system based on an actual size and an actual drop-off location of the load of the material moved by the vehicle. The computer system updates the report based on the updating of the status of the project.
    Type: Grant
    Filed: September 25, 2012
    Date of Patent: November 20, 2018
    Assignee: Trimble Inc.
    Inventors: Mark E. Nichols, Bryn Fosburgh, Christopher David Richardson, Peter Graham Gipps, George Derrick Darby, Jr.
  • Patent number: 10101466
    Abstract: According to the embodiments provided herein, a trajectory determination device for geo-localization can include one or more relative position sensors, one or more processors, and memory. The one or more processors can execute machine readable instructions to receive the relative position signals from the one or more relative position sensors. The relative position signals can be transformed into a sequence of relative trajectories. Each of the relative trajectories can include a distance and directional information indicative of a change in orientation of the trajectory determination device. A progressive topology can be created based upon the sequence of relative trajectories; this progressive topology can be compared to map data. A geolocation of the trajectory determination device can be determined.
    Type: Grant
    Filed: February 19, 2016
    Date of Patent: October 16, 2018
    Assignee: OHIO STATE INNOVATION FOUNDATION
    Inventors: Alper Yilmaz, Ashish Gupta
  • Patent number: 10085082
    Abstract: An earpiece includes an earpiece housing, a processor disposed within the earpiece, a speaker operatively connected to the processor, a microphone operatively connected the processor, and a global navigation satellite system (GNSS) receiver disposed within the earpiece. A system may includes a first earpiece having a connector with earpiece charging contacts, a charging case for the first earpiece, the charging case having contacts for connecting with the earpiece charging contacts, and a glob& navigation satellite system (GNSS) receiver disposed within the charging case.
    Type: Grant
    Filed: March 3, 2017
    Date of Patent: September 25, 2018
    Assignee: BRAGI GmbH
    Inventors: Darko Dragicevic, Peter Vincent Boesen
  • Patent number: 10060743
    Abstract: A method of correcting an output value of a geomagnetic sensor that recursively calculates a state estimate, an estimate gain vector, and an estimate error co-variance based on the output value of the geomagnetic sensor that is acquired sequentially and corrects the output value of the geomagnetic sensor based on the value includes acquiring a kth output value of the geomagnetic sensor, calculating a kth estimate gain vector based on a k?1th estimate error co-variance and the kth output value, calculating a kth state estimate based on the calculated kth estimate gain vector and the kth output value and a k?1th state estimate, calculating the kth estimate error co-variance using the kth estimate gain vector and a k?1th estimate error co-variance, and correcting the output value of the geomagnetic sensor based on the kth state estimate, wherein k is a natural number larger than 1.
    Type: Grant
    Filed: July 26, 2016
    Date of Patent: August 28, 2018
    Assignee: HAECHITECH CORPORATION
    Inventors: Dong Yoon Kim, Byung Ki Kim, Seung Hwan Park, Hyung Sik Shin, Kyoung Suck Ki, Jo An Na, Young Joon Kim, Yeon Soo Choi
  • Patent number: 9975648
    Abstract: In aspects herein, if GPS signals used as inputs into a GPS landing system become unreliable, an aircraft instead uses signals derived from radar data to operate the GPS landing system. Generally, GPS signals are unreliable if they cannot be received or if the signals are corrupted. Instead of using GPS signals, the landing system uses radar derived location data as inputs. In one example, the radar derived location data is generated using a radar system located at the intended landing site—e.g., an airport or aircraft carrier. The landing site transmits this data to the aircraft which processes the data using its GPS landing system that outputs control signals for landing the aircraft. Thus, even when GPS signals are unreliable, the aircraft can use the GPS landing system to land.
    Type: Grant
    Filed: December 4, 2015
    Date of Patent: May 22, 2018
    Assignee: THE BOEING COMPANY
    Inventor: Larry Dean Arnold
  • Patent number: 9970772
    Abstract: A method for localizing a vehicle in a digital map. GPS raw measurement data is retrieved from satellites. A digital map of a region traveled by the vehicle based on the raw measurement data is retrieved from a database. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by earth-fixed coordinates. Roadside objects are sensed in the region traveled by the vehicle using distance data and bearing angle data. The sensed roadside objects are matched on the digital map. A vehicle position is determined on the traveled road by fusing raw measurement data and sensor measurements of the identified roadside objects. The position of the vehicle is represented as a function of linearizing raw measurement data and the sensor measurement data as derived by a Jacobian matrix and normalized measurements, respectively.
    Type: Grant
    Filed: June 8, 2016
    Date of Patent: May 15, 2018
    Assignee: GM Global Technology Operations LLC
    Inventors: Shuqing Zeng, Jeremy A. Salinger, Bakhtiar B. Litkouhi, Joel Pazhayampallil, Kevin A. O'Dea, James N. Nickolaou, Mark E. Shields
  • Patent number: 9880020
    Abstract: In some embodiments, techniques for trip routing include determining a set of refueling stations, each of which is less than a threshold distance of deviation from a route; determining a fuel price and a deviation cost for each of the set of refueling stations, wherein the deviation cost is based on a unit distance of deviation from the route for each respective refueling station; calculating an imputed cost for each of the set of refueling stations, wherein the imputed cost is based on a combination of the fuel price and the corresponding deviation cost at each respective refueling station; selecting a first refueling station from among the set of refueling stations, wherein the first refueling station has a minimum imputed cost; updating the route to include the first refueling station; and presenting information relating to the updated route.
    Type: Grant
    Filed: April 6, 2015
    Date of Patent: January 30, 2018
    Inventor: Aaron Emigh
  • Patent number: 9851449
    Abstract: Methods that determine position of network devices in a robust manner may include a method for determining a position of a remote radio head. The method may include generating position values of the remote radio head based on signals received by a satellite positioning system (SPS) receiver, and generating additional position values of the remote radio head from a supplemental positioning unit. The method may include determining whether an error of at least one of the position values exceeds a threshold, and storing a last position value from position values having an error within the threshold, in response to determining that the error of at least one of the position values exceeds the threshold. The method may further include calculating an updated position value of the remote radio head based on at least one of the additional position values.
    Type: Grant
    Filed: August 28, 2015
    Date of Patent: December 26, 2017
    Assignee: Verizon Patent and Licensing Inc.
    Inventors: Donna L. Polehn, Thomas H. Tan
  • Patent number: 9849978
    Abstract: Techniques for determining whether data associated with an autonomous operation of an unmanned vehicle may be trusted. For example, a first set of data may be provided from a source external to the unmanned vehicle. A second set of data may be accessed. This second set may be provided from a source internal to the unmanned vehicle and may be associated with the same autonomous operation. The two sets may be compared to determine whether the first set of data may be trusted or not. If untrusted, the autonomous navigation may be directed based on the second set of data and independently of the first set.
    Type: Grant
    Filed: September 25, 2015
    Date of Patent: December 26, 2017
    Assignee: Amazon Technologies, Inc.
    Inventors: Scott Gerard Carmack, Narasimha Rao Lakkakula, Nima Sharifi Mehr
  • Patent number: 9847033
    Abstract: Techniques for determining whether data associated with an autonomous operation of a first unmanned vehicle may be trusted. For example, the first unmanned vehicle may receive an indication related to the data and originating from a second unmanned vehicle over a network. For instance, the indication may indicate that similar data for a similar autonomous operation of the second unmanned vehicle may be untrusted. Based on a level of trust accorded to the indication, the first unmanned vehicle may determine that the data may be untrusted and the autonomous navigation may be directed independently of the data.
    Type: Grant
    Filed: September 25, 2015
    Date of Patent: December 19, 2017
    Assignee: Amazon Technologies, Inc.
    Inventors: Scott Gerard Carmack, Narasimha Rao Lakkakula, Nima Sharifi Mehr
  • Patent number: 9817102
    Abstract: Methods, systems and computer program products for determining and filtering potential outliers in RF signals used in radionavigation are described. A radionavigation subsystem of a mobile device can determine a first location estimate of the mobile device. The mobile device can determine a free direction from the first location estimate. The free direction can be a direction along which RF signals may cause greater position errors than RF signals from other directions may cause. The mobile device can determine a potential outlier among the received RF signals, the potential outlier being an RF signal from a signal source in the free direction. The mobile device can indicate to the radionavigation subsystem that a weight of the potential outlier shall be reduced when determining a second location estimate of the mobile device using the RF signals.
    Type: Grant
    Filed: June 10, 2016
    Date of Patent: November 14, 2017
    Assignee: Apple Inc.
    Inventors: Isaac Thomas Miller, Glenn Donald MacGougan, Kumar Gaurav Chhokra
  • Patent number: 9733091
    Abstract: This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.
    Type: Grant
    Filed: February 12, 2014
    Date of Patent: August 15, 2017
    Assignee: TRX Systems, Inc.
    Inventors: Kamiar Kordari, Benjamin Funk, Carole Teolis, Jared Napora, John Karvounis, Dan Hakim, Christopher Giles, Carol Politi
  • Patent number: 9714841
    Abstract: A satellite and/or dead-reckoning navigation integrated positioning device with improved accuracy including position, velocity, etc. is disclosed. A tracking processing module performs, based on a GPS signal, acquisition and tracking thereof and demodulation of a navigation message. A GPS calculation module calculates position, velocity, and the like based on pseudo-range and Doppler frequency observations, and ephemeris data and gives the calculations to output judgment and tracking processing modules. Based on external support information including inertial sensor output, map information or information about differences between map position and measured position, along with the pseudo-range and Doppler observations, an integrated positioning calculation module estimates position, velocity, and the like, and gives the estimates to the output judgment module.
    Type: Grant
    Filed: March 21, 2013
    Date of Patent: July 25, 2017
    Assignee: FURUNO ELECTRIC COMPANY LIMITED
    Inventors: Hiroyuki Toda, Masaki Suyama, Hiroshi Hamada, Mika Tanaka (Ninomiya), Kunihiko Hashimoto
  • Patent number: 9658070
    Abstract: This disclosure describes inverse filtering and square root inverse filtering techniques for optimizing the performance of a vision-aided inertial navigation system (VINS). In one example, instead of keeping all features in the system's state vector as SLAM features, which can be inefficient when the number of features per frame is large or their track length is short, an estimator of the VINS may classify the features into either SLAM or MSCKF features. The SLAM features are used for SLAM-based state estimation, while the MSCKF features are used to further constrain the poses in the sliding window. In one example, a square root inverse sliding window filter (SQRT-ISWF) is used for state estimation.
    Type: Grant
    Filed: July 10, 2015
    Date of Patent: May 23, 2017
    Assignee: Regents of the University of Minnesota
    Inventors: Stergios I. Roumeliotis, Kejian J. Wu
  • Patent number: 9435653
    Abstract: A method and system for localizing a vehicle in a digital map includes generating GPS coordinates of the vehicle on the traveled road and retrieving from a database a digital map of a region traveled by the vehicle based on the location of the GPS coordinates. The digital map includes a geographic mapping of a traveled road and registered roadside objects. The registered roadside objects are positionally identified in the digital map by longitudinal and lateral coordinates. Roadside objects in the region traveled are sensed by the vehicle. The sensed roadside objects are identified on the digital map. A vehicle position on the traveled road is determined utilizing coordinates of the sensed roadside objects identified in the digital map. The position of the vehicle is localized in the road as a function of the GPS coordinates and the determined vehicle position utilizing the coordinates of the sensed roadside objects.
    Type: Grant
    Filed: September 17, 2013
    Date of Patent: September 6, 2016
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Shuqing Zeng, Jeremy A. Salinger, Bakhtiar B. Litkouhi, Joel Pazhayampallil, Kevin A. O'Dea, James N. Nickolaou, Mark E. Shields
  • Patent number: 9432964
    Abstract: Methods, systems, computer-readable media, and apparatuses for determining locations of access points (AP) are presented. Techniques are described for determining relative and absolute locations of APs. In one embodiment, a device may send and receive messages to one or more APs for from various locations for determining the distance between the device and the AP. The device may additionally keep track of its own displacement for the purposes of determining the location of the one or more APs. In one embodiment, the device also determines the turnaround calibration factor (TCF) for the AP that compensates for the processing time at the AP may also be used for increasing the accuracy of the determination of the location of the AP.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: August 30, 2016
    Assignee: QUALCOMM Incorporated
    Inventors: Lionel Jacques Garin, Xiaoxin Zhang
  • Patent number: 9366540
    Abstract: Location determination is facilitated based on motion data accumulated at a vehicle in cases in which a beacon is not available. One method includes receiving, by a first device, first information about a vehicle indicative of a position and a direction of the vehicle. The position is measured by the vehicle based on a measured angular rotation rate and radius of a wheel of the vehicle and the direction of the vehicle is measured by the vehicle based on a measured amount of a turn radius of a steering wheel device of the vehicle. The method also includes determining a previously determined location of the vehicle. The method also includes generating second information about a location of the first device based on the previously determined location of the vehicle and the first information. Error estimates for the location and/or tuning bias for sensors at the vehicle can also be determined.
    Type: Grant
    Filed: October 23, 2014
    Date of Patent: June 14, 2016
    Assignee: AT&T MOBILITY II LLC
    Inventor: Ginger Chien
  • Patent number: 9360560
    Abstract: Embodiments of the disclosure provide a cross coupled position engine architecture for sensor integration in a Global Navigation Satellite System. In one embodiment, a data processing engine for processing inertial sensor data within a positioning system receiver is disclosed. The data processing engine includes a first input for receiving the sensor data, and a second input for receiving a positioning data. The data processing system also includes a memory and a processor. The processor of the data processing system is coupled to the memory and to the first and second input. The processor of the data processing system is configured to calculate a net acceleration profile data from the inertial sensor data and from the positioning data. The net acceleration profile data calculated by the processor of the data processing system is used for the Global Positioning System (GPS) receiver to subsequently calculate a position and a velocity data.
    Type: Grant
    Filed: April 14, 2015
    Date of Patent: June 7, 2016
    Assignee: Texas Instruments Incorporated
    Inventors: Goutam Dutta, Tarkesh Pande, Sandeep Rao, Deric W. Waters
  • Patent number: 9279235
    Abstract: A method, system, and non-transitory computer-readable storage medium for calibrating an implement actuation sensor of a machine are disclosed. The method may include calculating a first elevation value of an implement of the machine in a gravity reference frame of the machine. The method may further include calculating a second elevation value of a ground-engaging device of the machine in the gravity reference frame of the machine. The method may further include determining a difference between the first elevation value and the second elevation value. The method may further include calibrating the implement actuation sensor based on the determined difference.
    Type: Grant
    Filed: September 3, 2014
    Date of Patent: March 8, 2016
    Assignee: Caterpillar Inc.
    Inventors: Troy Kenneth Becicka, Paul Russell Friend
  • Patent number: 9253751
    Abstract: In a baseband processing circuit unit, a reception signal type determination unit determines whether or not a reception signal in a GPS reception unit is an indirect wave. A movement speed calculation unit calculates a movement speed of the GPS reception unit using a correction coefficient of a relative speed determined in accordance with the determination of whether or not the reception signal is an indirect wave, a transmission frequency of a GPS satellite signal and a reception frequency in the GPS reception unit.
    Type: Grant
    Filed: February 4, 2013
    Date of Patent: February 2, 2016
    Assignee: Seiko Epson, Corporation
    Inventors: Tsubasa Shirai, Yoshitaka Yamagata
  • Patent number: 9164179
    Abstract: Implementations relate to systems and methods for generating compensated speed values for a Doppler-enabled device. A portable wireless device can contain a GPS navigation engine (110) to capture position data (120) and Doppler speed data (118) from positioning satellites. The device can also generate position-based speed values from successive position readings and time intervals, to determine the current speed independently of the Doppler-based speed values. During degraded signal conditions, the Doppler-based speed values can drop to invalid levels. The device incorporates a combiner module (450) which compares the position-based and Doppler-based speed values and performs combination operations on those quantities to produce a compensated speed value (490). By selecting the maximum or otherwise combining those values, extreme excursions in speed values are avoided and accuracy promoted.
    Type: Grant
    Filed: November 1, 2012
    Date of Patent: October 20, 2015
    Assignee: GOOGLE TECHNOLOGY HOLDINGS LLC
    Inventors: Julius S Gyorfi, Amitkumar N Balar, Shakil Barkat, Sajid I Dalvi, Hideki Yoshino
  • Patent number: 9151620
    Abstract: Device for determining location information, primary references consolidated for an aircraft, comprising a chain for determining location information comprising means for measuring radionavigation data, suitable means for consolidating, suitable means for computing parameters and suitable means for consolidating the parameters. The device also comprises a chain for determining inertial primary references comprising means for measuring inertial data, suitable means for consolidating, suitable means for computing parameters and suitable means for consolidating the parameters. The device finally comprises a chain for determining anemo-barometric data comprising means for measuring anemo-barometric data, suitable means for consolidating the measured anemo-barometric data, suitable means for computing parameters, and suitable means for consolidating the reference parameters.
    Type: Grant
    Filed: April 5, 2013
    Date of Patent: October 6, 2015
    Assignee: Thales
    Inventors: Jean-Pierre Arethens, Dominique Bouard
  • Patent number: 9030356
    Abstract: Embodiments of the disclosure provide a cross coupled position engine architecture for sensor integration in a Global Navigation Satellite System. In one embodiment, a data processing engine for processing inertial sensor data within a positioning system receiver is disclosed. The data processing engine includes a first input for receiving the sensor data, and a second input for receiving a positioning data. The data processing system also includes a memory and a processor. The processor of the data processing system is coupled to the memory and to the first and second input. The processor of the data processing system is configured to calculate a net acceleration profile data from the inertial sensor data and from the positioning data. The net acceleration profile data calculated by the processor of the data processing system is used for the Global Positioning System (GPS) receiver to subsequently calculate a position and a velocity data.
    Type: Grant
    Filed: June 17, 2011
    Date of Patent: May 12, 2015
    Assignee: Texas Instruments Incorporated
    Inventors: Goutam Dutta, Tarkesh Pande, Sandeep Rao, Deric W. Waters
  • Patent number: 9020755
    Abstract: A method of determining a position of a moving vehicle. A global position is detected by a global positioning device of at least one parked vehicle in a vicinity of the moving vehicle. The global position is determined as a function of signals broadcast by a plurality of satellites. Errors associated with the broadcast signals are determined. A correction error that provides a solution for eliminating the errors associated with the broadcast signals is determined. The correction error is transmitted to the moving vehicle. The correction error is applied to a received global positioning signal received by the moving vehicle. A global position of the moving vehicle is determined as a function of the correction error. The determined global position of the moving vehicle is applied in a vehicle application.
    Type: Grant
    Filed: December 17, 2013
    Date of Patent: April 28, 2015
    Assignee: GM Global Technology Operations LLC
    Inventors: Ran Y. Gazit, Kobi J. Scheim
  • Patent number: 9000978
    Abstract: A process for determination of navigation parameters of a carrier by a hybridisation device comprising a bank (3) of Kalman filters, each working out a hybrid navigation solution from inertial measurements calculated by a virtual platform (2) and raw measurements of signals emitted by a constellation of satellites supplied by a satellite-positioning system (GNSS), characterised in that it comprises the steps of: determination for each satellite of at least one probability ratio between a hypothetical breakdown of given type of the satellite and a hypothetical absence of breakdown of the satellite, declaration of a breakdown of given type on a satellite as a function of the probability ratio associated with this breakdown and of a threshold value, estimation of the impact of the breakdown declared on each hybrid navigation solution, and correction of hybrid navigation solutions as a function of the estimation of the impact of the breakdown declared.
    Type: Grant
    Filed: July 9, 2010
    Date of Patent: April 7, 2015
    Assignee: Sagem Defense Securite
    Inventors: Didler Riedinger, Sébastien Vourc'h, Ghaleb Hoblos
  • Patent number: 8996311
    Abstract: A navigation system for use with moving vehicles includes target points proximate to a rendezvous site located on a first moving vehicle. One or more transmitters associated with the target points broadcast time-tagged target point positioning information. A navigation unit on a second moving vehicle utilizes a camera with known properties to capture images that include the target points. The navigation unit processes the image that corresponds in time to the positioning information, to determine the relative position and orientation of the rendezvous site at the second vehicle. The navigation unit utilizes the relative position and orientation and an absolute position and orientation of the rendezvous site calculated from the target position information and calculates an absolute position and orientation corresponding to the second vehicle.
    Type: Grant
    Filed: December 6, 2013
    Date of Patent: March 31, 2015
    Assignee: NovAtel Inc.
    Inventors: Kristian Morin, Michael Bobye, Sandy Kennedy
  • Patent number: 8972182
    Abstract: Among other things, positioning a magnetic instrument on a pedestrian; positioning an inertial instrument on a foot of a pedestrian; receiving positioning signals at the pedestrian; aligning the inertial instrument based in part on the received positioning signals; calibrating the magnetic instrument using the inertial instrument; and tracking the pedestrian using the calibrated magnetic instrument and the inertial instrument.
    Type: Grant
    Filed: August 13, 2009
    Date of Patent: March 3, 2015
    Assignee: Thales Visionix, Inc.
    Inventor: Eric Foxlin
  • Patent number: 8949011
    Abstract: A system for maneuvering an aircraft for operations in connection with a sea-going vessel, the vessel having a designated area for landings and sling-load operations. Each of the aircraft has a navigation unit (INU) comprising a GPS receiver and an inertial navigation unit. The INU's are updated by data from the GPS receivers and the data from the shipboard unit's GPS receiver and INU are transmitted to the aircraft. The aircraft performs RTK calculations to determine a vector to the shipboard GPS antennas and modifies the vector with data from the INU's.
    Type: Grant
    Filed: September 13, 2006
    Date of Patent: February 3, 2015
    Assignee: NovAtel Inc.
    Inventors: Tom Ford, Michael Boloye
  • Patent number: 8928527
    Abstract: Systems and methods for reducing error detection latency in LPV approaches are provided. In certain embodiments, a method for navigational guidance includes calibrating inertial measurements acquired from an inertial navigation system with satellite-based augmentation system position measurements acquired from a satellite-based augmentation system to create corrected inertial navigation system positions. The method also includes determining whether the satellite-based augmentation system experienced a fault when the inertial measurements were calibrated with the satellite-based augmentation system position measurements. Further, when the satellite-based augmentation system did not experience a fault, the method includes monitoring the satellite-based augmentation system navigation position measurements based on the corrected inertial navigation system positions.
    Type: Grant
    Filed: March 19, 2013
    Date of Patent: January 6, 2015
    Assignee: Honeywell International Inc.
    Inventors: Gang He, Ivan Sandy Wyatt
  • Patent number: 8922427
    Abstract: A system and method for detecting global positioning system (GPS) spoofing attacks includes collecting GPS readings along with inertial navigational system (INS) readings as a ground truth, and sequentially testing the GPS readings and INS readings through the use of a sequential probability ratio testing (SPRT) process.
    Type: Grant
    Filed: June 29, 2011
    Date of Patent: December 30, 2014
    Assignee: BAE Systems Information and Electronic Systems Integration Inc.
    Inventors: Sintayehu Dehnie, Reza Ghanadan
  • Publication number: 20140375493
    Abstract: A method of improving position determination of a device using locally measured movement. A first position fix of a Global Navigation Satellite System (GNSS) receiver system of a device is accessed. A second position fix of the GNSS receiver system is accessed at a time subsequent to the first position fix. Locally measured device movement information is obtained from at least one sensor, that is in a known physical relationship to the device, for a time period after the first position fix and no later than the second position fix, wherein the at least one sensor comprises an image capture device. The quality of measurement of the second position fix is improved by disciplining the second position fix based on the locally measured device movement information.
    Type: Application
    Filed: May 2, 2014
    Publication date: December 25, 2014
    Inventors: Shawn D. Weisenburger, Richard Rudow, Nicholas C. Talbot, Peter Van Wyck Loomis, James M. Janky
  • Publication number: 20140375494
    Abstract: A positioning system operates by first determining that a user is pedestrian, and then estimating a speed of the user. Having tracked a first signal from one radio transmitter whose position is known, the system attempts to detect additional signals from the one transmitter, in a search space such that the first signal and the or each additional signal are consistent with the estimated speed of the user and with one or more of the signals having been reflected off a reflector in the vicinity of the user. One or more detected additional signals from the one transmitter are then tracked, and candidate measurements, derived from the first signal and the one or more detected additional signals, are provided for use when estimating the position and/or velocity of the user.
    Type: Application
    Filed: June 20, 2014
    Publication date: December 25, 2014
    Inventors: Peter FLEMING, Geraint FFOULKES-JONES, Gerald WHITWORTH
  • Patent number: 8892331
    Abstract: A drive assist system includes: wireless communication devices on first and second vehicles. The wireless communication device on the first vehicle includes: a distance calculation device for calculating a satellite positioning distance between the first and second vehicles; and a difference calculation device for calculating a distance difference between the satellite positioning distance and a distance to the second vehicle obtained by a ranging sensor in the first vehicle.
    Type: Grant
    Filed: June 20, 2012
    Date of Patent: November 18, 2014
    Assignee: Denso Corporation
    Inventors: Seigou Kumabe, Takahisa Yamashiro
  • Patent number: 8874137
    Abstract: Apparatus for determining a positioning error includes: database for storing grid cells separated by each pCell ID and WLAN environment information matched to grid cells; information receiving unit for receiving terminal WLAN environment information from mobile communication terminal; identification information checking unit for checking AP identification information included in terminal WLAN environment information; triangulating unit for calculating triangulation coordinate value by performing triangulation with AP position estimation information corresponding to AP identification information; grid cell positioning unit for selecting one or more grid cells corresponding to AP identification information and calculating grid cell coordinate value based on coordinate value corresponding to grid cell selected; and error determining unit for comparing triangulation coordinate value and grid cell coordinate value and determining whether there is positioning error in any one of triangulation coordinate value and g
    Type: Grant
    Filed: June 28, 2011
    Date of Patent: October 28, 2014
    Assignee: SK Telecom Co., Ltd.
    Inventors: Suk Yon Kang, Chae Hwan Cho, Seung Yoon Baek, Hye Min Lee, Chang Seok Lee
  • Patent number: 8787943
    Abstract: Systems and methods are disclosed for determining a geographic position of a mobile communications terminal operable in a wireless communications network. According to one embodiment, a first estimated position of the mobile communications terminal may be calculated based on pseudo-range measurements related to a plurality of signals received from transmitters of a global navigation satellite system. Moreover, a second estimated position of the mobile communications terminal may be calculated based on information provided by the wireless communications network. The first estimated position may be analyzed to derive an indication of whether at least one of the pseudo-range measurements is affected by errors. If at least one of the pseudo-range measurements is affected by errors at least one third estimated position may be calculated based on a sub-set of pseudo-range measurements and evaluated against the first estimated position.
    Type: Grant
    Filed: September 26, 2008
    Date of Patent: July 22, 2014
    Assignee: Telecom Italia S.p.A.
    Inventor: Giorgio Ghinamo
  • Publication number: 20140152493
    Abstract: A quasi tightly coupled (QTC) aided INS (AINS) process has an inertial navigator system with a loosely-coupled AINS Kalman filter that constructs INS-GNSS position measurements, a GNSS position engine that computes a position fix from observables and an externally provided a priori position and position VCV matrix. An INS position seeding process in which the externally provided a priori position to the GNSS position engine is an antenna position computed from the INS position and attitude solution. An observable subspace constraint (OSC) process computes an OCS matrix that suppress the components of the GNSS position error due to a poor geometry in the GNSS position solution in the IG position measurement constructed by the AINS Kalman filter and that multiplies the OSC matrix and the IG position measurement and measurement model matrix to suppress uncorrected component of the GNSS position error in the IG position measurement and measurement model.
    Type: Application
    Filed: November 30, 2012
    Publication date: June 5, 2014
    Applicant: APPLANIX INC.
    Inventor: Bruno M. Scherzinger
  • Publication number: 20140132442
    Abstract: A positioning device capable of detecting three-dimensional move trace including a GPS module, an acceleration detecting module, and a computing unit is illustrated. The GPS module acquires global position information of the positioning device. The acceleration detecting module continuously detects three-dimensional acceleration based on movements of the positioning device, and calculates three-dimensional vectors of the positioning device accordingly. The computing unit is coupled with the GPS module and the acceleration detection module. The computing unit generates plane position information according to the global position information and a plurality of short three-dimensional traces according to the three-dimensional vectors. The computing unit further generates a plurality of short-distance traces according to the plane position information and the plurality of three-dimensional traces, and provides a three-dimensional moving trace via combining the plurality of short-distance traces.
    Type: Application
    Filed: January 24, 2013
    Publication date: May 15, 2014
    Applicant: KINPO ELECTRONICS, INC.
    Inventors: WEN-HSIN LO, CHIA-CHIN TSAI
  • Patent number: 8717232
    Abstract: A handheld GNSS device includes a housing, handgrips integral to the housing for enabling a user to hold the device, and a display screen integral with the housing. The device has a GNSS antenna and a communication antenna, both integral with the housing. The GNSS antenna receives position data from GNSS satellites. The communication antenna receives positioning assistance data from a base station. The GNSS antenna has a first antenna pattern, and the communication antenna has a second antenna pattern. The first and second antenna patterns are substantially separated. Coupled to the GNSS antenna, within the housing, is at least one receiver. Further, the device includes, within the housing, orientation circuitry for generating orientation data, imaging circuitry for obtaining image data, and positioning circuitry for determining a position for the point of interest based on the position data, the positioning assistance data, the orientation data, and the image data.
    Type: Grant
    Filed: January 18, 2012
    Date of Patent: May 6, 2014
    Assignee: Javad GNSS, Inc.
    Inventors: Javad Ashjaee, Lev B. Rapoport, Mikhail Gribkov, Alexander I. Gribkov
  • Publication number: 20140104101
    Abstract: A position calculating device of a moving object including a satellite positioning unit and an inertial positioning unit sets an influence level of measurement result 1 of the satellite positioning unit on measurement result 2 of the inertial positioning unit to a first level until a given condition is established after position calculation is started, and sets the influence level to a second level after the given condition is established. The position of the moving object is calculated by performing a coupling process of coupling measurement result 1 and measurement result 2 on the basis of the set influence level.
    Type: Application
    Filed: March 12, 2012
    Publication date: April 17, 2014
    Applicant: Seiko Epson Corporation
    Inventor: Shunichi Mizuochi
  • Patent number: 8700253
    Abstract: A system is provided for collecting defect data of components in a passenger cabin of a vehicle that includes, but is not limited to a component identification device for identifying an affected component, and a malfunction selection device, connected to the component identification device, for selecting a malfunction of the identified component from a predefined quantity of component-specific malfunctions. The system includes, but is not limited to a locating device for acquiring a position of the affected component in the passenger cabin, with the aforesaid being connected to the component identification device. In this manner, by means of devices that are very simple to use, imprecise positioning information, component information and malfunction information can be avoided.
    Type: Grant
    Filed: August 25, 2011
    Date of Patent: April 15, 2014
    Assignee: Airbus Operations GmbH
    Inventor: Daniel Fischer
  • Publication number: 20140070986
    Abstract: A satellite positioning component calculates a first position associated with a navigation receiver at a first time. An inertial positioning component calculates a second position associated with the navigation receiver at the first time. A combination positioning component provides a reference position, combines the first position and the second position into a third position based on distances among the first position, the second position, and the reference position, and locates the navigation receiver according to the third position.
    Type: Application
    Filed: November 5, 2012
    Publication date: March 13, 2014
    Applicant: O2MICRO INC.
    Inventors: Ke GAO, Jinghua ZOU, Xiaoyong HE, Shenghong LU
  • Publication number: 20140062765
    Abstract: A navigation system includes first receiver receiving satellite signals, second receiver receiving differential correction data from ground receivers, and processing device coupled to receivers.
    Type: Application
    Filed: September 6, 2012
    Publication date: March 6, 2014
    Applicant: Honeywell International Inc.
    Inventor: Mats Anders Brenner
  • Patent number: 8665156
    Abstract: The subject matter disclosed herein relates to providing assistance information to a mobile station for performing position estimation operations.
    Type: Grant
    Filed: September 8, 2009
    Date of Patent: March 4, 2014
    Assignee: QUALCOMM Incorporated
    Inventors: Marc A. Ische, Dominic Gerard Farmer, Mark L. Moeglein, Zoltan F. Biacs, Jignesh U. Doshi
  • Patent number: 8649977
    Abstract: In a GPS composite navigation apparatus of a configuration having a GPS receiver, variation in an estimated position, an estimated velocity, and an estimated azimuth of a moving body when the moving body is not moving is resolved, and the GPS/INS integrated navigation system with good response characteristics from a stationary state to a moving state. A stationary detector for determining the stationary state of the moving body is provided, and when it is determined to be the stationary state by the stationary detector, a measurement model used for measurement-update of a Kalman filter is changed, while a changed amount of an error covariance matrix by the update is corrected.
    Type: Grant
    Filed: November 26, 2007
    Date of Patent: February 11, 2014
    Assignee: Furuno Electric Company Limited
    Inventor: Hiroyuki Toda
  • Publication number: 20130342392
    Abstract: A location calculating method includes acquiring measurement information by receiving satellite signals from positioning satellites and storing the acquired measurement information in a storage unit in association with acquisition time, calculating movement information that includes a movement direction and a movement distance by using a detection result of a sensor unit that at least includes an acceleration sensor and storing the calculated movement information in the storage unit in association with calculation time, and calculating a location at desired time by using at least the measurement information of which the acquisition time satisfies a predetermined proximity time condition and the movement information of which the calculation time is between the acquisition time of the measurement information and the given desired time.
    Type: Application
    Filed: August 8, 2013
    Publication date: December 26, 2013
    Applicant: Seiko Epson Corporation
    Inventor: Naganobu AOKI
  • Publication number: 20130342391
    Abstract: Various different techniques are used to determine a location of a device, including 3-dimensional (3D) mapping techniques as well as one or more of Global Navigation Satellite System (GNSS) techniques, wireless signal detection techniques, and inertial sensor techniques. The locations determined by these various techniques are combined to determine the location of the device and/or user of the device. In addition to the location of the device, an orientation or direction of view of the device and/or user of the device can optionally be determined as well.
    Type: Application
    Filed: December 24, 2012
    Publication date: December 26, 2013
    Inventors: Peter S. Hoang, Jedd A. Perry, Rod G. Fleck
  • Publication number: 20130321201
    Abstract: Systems and methods for the selection of antennas in aircraft navigation systems are provided. In one embodiment, a navigation receiver system for an aircraft comprises: a first aircraft antenna that receives transmitter signals from fixed-location ground transmitters and a second aircraft antenna that receives transmitter signals from the fixed-location ground transmitters, wherein the first aircraft antenna has a first gain pattern that is different from a second gain pattern of the second aircraft antenna; a switch coupled to a first receiver and the first and second aircraft antenna; and a switch controller coupled to the switch. The switch controller operates the switch to electrically couple the first receiver to either the first or second aircraft antenna based on a determination of whether the first gain pattern or the second gain pattern provides higher gain in a direction of a first fixed-location ground transmitter of the fixed-location ground transmitters.
    Type: Application
    Filed: June 1, 2012
    Publication date: December 5, 2013
    Applicant: HONEYWELL INTERNATIONAL INC.
    Inventors: John Savoy, Sidney Richard Strong, Alfonso Malaga, Anthony H. Luk
  • Patent number: 8593341
    Abstract: A position calculation method and apparatus are described. The position calculation apparatus may include an inertial measurement unit and be configured to be coupled with at least one sensor unit for detecting a physical event for use in position calculation. The presence of and type sensor unit may identified, and the position processing to be undertaken may depend on this identification.
    Type: Grant
    Filed: July 1, 2010
    Date of Patent: November 26, 2013
    Assignee: Seiko Epson Corporation
    Inventors: Kumar Anand, Shunichi Mizuochi, Shuji Uchida, Takuya Sugimoto, Kenji Onda, Rama Sanjay