Sensor assisted validation and usage of map information as navigation measurements

摘要

Navigation solutions for a pedestrian or vehicle user are obtained by determining whether the direction and location of the user obtained from a map at least substantially conform to the direction and location of the user based on one or more measurements obtained from one or more sensors, and if the direction and location of the user obtained from the map at least substantially conform to the direction and location of the user based on one or more measurements obtained from one or more sensors, computing the navigation solutions based, at least in part, on the direction and location of the user.

主权项

1. A method of obtaining one or more navigation solutions, comprising:
determining whether direction and location of a user obtained from a map at least substantially conform to the direction and location of the user based on at least one measurement obtained from at least one sensor; and computing at least one navigation solution based, at least in part, on the direction and location of the user based upon a determination that the direction and location of the user obtained from the map at least substantially conform to the direction and location of the user based on said at least one measurement obtained from said at least one sensor, wherein computing said at least one navigation solution based, at least in part, on the direction and location of the user comprises:
estimating a directional covariance based on the direction of the user obtained from the map and the direction of the user based on said at least one measurement obtained from said at least one sensor.