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1. WO2022047462 - MODELING MUTABLE ENVIRONMENT STRUCTURES

Publication Number WO/2022/047462
Publication Date 03.03.2022
International Application No. PCT/US2021/071232
International Filing Date 19.08.2021
IPC
G01S 19/42 2010.1
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS , GLONASS or GALILEO
42Determining position
CPC
G01S 19/09
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
03Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
09providing processing capability normally carried out by the receiver
G01S 19/22
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
13Receivers
22Multipath-related issues
G01S 19/25
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
13Receivers
24Acquisition or tracking ; or demodulation; of signals transmitted by the system
25involving aiding data received from a cooperating element, e.g. assisted GPS
G01S 19/26
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
13Receivers
24Acquisition or tracking ; or demodulation; of signals transmitted by the system
26involving a sensor measurement for aiding acquisition or tracking
G01S 19/428
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
42Determining position
428using multipath or indirect path propagation signals in position determination
G01S 19/51
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
42Determining position
51Relative positioning
Applicants
  • GOOGLE LLC [US]/[US]
Inventors
  • MAGGIOLO, Stefano
  • FATTOUCH, Imad, Jean
  • MARCHESINI, Andrea
  • QU, Zixuan
  • TONG, Zifei
Agents
  • KRUEGER, Brett, A.
Priority Data
17/006,83329.08.2020US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) MODELING MUTABLE ENVIRONMENT STRUCTURES
(FR) MODÉLISATION DE STRUCTURES D'ENVIRONNEMENT MUTABLES
Abstract
(EN) A method (400) of modeling mutable environmental structures includes receiving an estimated location (12) of a GNSS receiver (114) in an environment (100) and a plurality of GNSS-related features (232) corresponding to a GNSS signal (22) received at the GNSS receiver. The method also includes determining a plurality of candidate positions (224) about the estimated location for the GNSS receiver. Each candidate position corresponds to a possible actual location of the GNSS receiver in the environment. For each candidate position, the method further includes generating, as an output from a GNSS localization model (230) configured to receive the plurality of GNSS-related features as input, a respective probability (236) that the respective candidate position includes the actual location of the GNSS receiver. The method also includes selecting from the plurality of candidate positions, the respective candidate position having a greatest probability as the actual location of the GNSS receiver.
(FR) Est décrit ici un procédé (400) de modélisation de structures environnementales mutables comprenant la réception d'un emplacement estimé (12) d'un récepteur GNSS (114) dans un environnement (100) et d'une pluralité de caractéristiques (232) relatives à un GNSS correspondant à un signal GNSS (22) reçu au niveau du récepteur GNSS. Le procédé comprend également la détermination d'une pluralité de positions candidates (224) autour de l'emplacement estimé pour le récepteur GNSS. Chaque position candidate correspond à un emplacement réel possible du récepteur GNSS dans l'environnement. Pour chaque position candidate, le procédé comprend en outre la génération, en tant que sortie à partir d'un modèle de localisation GNSS (230) configuré pour recevoir la pluralité de caractéristiques relatives à un GNSS en tant qu'entrée, une probabilité respective (236) que la position candidate respective comprenne l'emplacement réel du récepteur GNSS. Le procédé comprend également la sélection, parmi la pluralité de positions candidates, de la position candidate respective ayant la plus grande probabilité en tant qu'emplacement réel du récepteur GNSS.
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