Construction of a Surface of Best GPS Visibility From Passive Traces Using SLAM for Horizontal Localization and GPS Readings and Barometer Readings for Elevation Estimation

摘要

A system includes one or more processors, and data storage configured to store instructions that, when executed by the one or more processors, cause the system to perform functions. In one example, the functions include receiving logs of data, wherein respective data in the received logs of data are collected by one or more sensors of a device over one or more locations and over a time period. In the present example, the functions also include determining location estimates of the device by performing a simultaneous localization and mapping (SLAM) optimization of the location estimates using barometer data and GPS elevational data available in the logs of data, wherein the location estimates indicate elevational locations of the device over the time period.

主权项

1. A system comprising:
one or more processors; and data storage configured to store instructions that, when executed by the one or more processors, cause the system to perform functions comprising:
receiving logs of data, wherein respective data in the received logs of data are collected by one or more sensors of a device over one or more locations and over a time period; anddetermining location estimates of the device by performing a simultaneous localization and mapping (SLAM) optimization of the location estimates using barometer data and GPS elevational data available in the logs of data, wherein the location estimates indicate elevational locations of the device over the time period.