HK1167899A - Method and system for processing signals - Google Patents

Description

Method and system for processing signal

Technical Field

The present invention relates to signal processing for Global Navigation Satellite Systems (GNSS). More particularly, the present invention relates to a method and system for computing generic hybrid navigation information for GNSS enabled devices.

Background

As a new value-added service provided by a mobile communication network, a location-based services (LBS) is rising. The location service is a mobile service using user location information in order to support various location applications, such as an emergency 911 (E-911) system, a location-based telephone directory 411, location information, and/or a location dating service (friend finding service).

The location of the mobile device can be determined in different ways, for example using network-based techniques, using terminal-based techniques and/or hybrid techniques (a combination of the previous techniques). To support LBS applications, many positioning techniques, such as time of arrival (TOA), observed time difference of arrival (OTDOA), enhanced time difference detection positioning techniques (E-OTD), and Global Navigation Satellite Systems (GNSS), such as GPS, GLONASS, galileo satellite navigation system, and/or assisted GNSS (a-GNSS), are suitable for estimating the location (longitude and latitude) of a mobile device and converting that location to meaningful X, Y coordinates. a-GNSS technology combines satellite positioning with communication networks (e.g., mobile networks) to achieve a level of performance that allows for widespread deployment of positioning services.

Further limitations and disadvantages of conventional and traditional approaches will become apparent to one of skill in the art, through comparison of such systems with some aspects of the present invention as set forth in the remainder of the present application with reference to the drawings.

Disclosure of Invention

As set forth more fully in the claims, a system and/or method is provided for computing generic hybrid navigation information for a GNSS enabled device (GNSS enabled device) as set forth in and/or described in connection with at least one of the figures.

According to an aspect of the present invention, there is provided a method of processing a signal, the method comprising:

in a Global Navigation Satellite System (GNSS) enabled device for processing a plurality of sensors:

collecting GNSS measurement data and navigation-related non-GNSS sensor data;

formatting said collected navigation-related non-GNSS sensor data to be in accordance with a format of said collected GNSS measurement data; and

calculating navigation information of the GNSS enabled device by a single function module (single function) using the collected GNSS measurement data and the formatted non-GNSS sensor data.

Preferably, the plurality of sensors comprises at least two of a cellular radio, wireless lan (wifi) radio, bluetooth radio, FM radio, magnetic sensor, motion sensor, rate gyroscope, pressure sensor, image sensor and/or sonar sensor.

Preferably, the method further comprises estimating a measurement error in the collected navigation-related non-GNSS sensor data.

Preferably, the method further comprises determining a measurement accuracy of the collected navigation-related non-GNSS sensor data based on the estimated measurement error.

Preferably, the method further comprises removing erroneous measurement data from the collected navigation-related non-GNSS sensor data based on the determined measurement accuracy.

Preferably, the method further comprises selectively employing the collected navigation-related non-GNSS sensor data based on the determined accuracy of measurement.

Preferably, the method further comprises time tagging the employed navigation-related non-GNSS sensor data.

Preferably, the method further comprises combining said collected GNSS measurement data with said time-stamped navigation-related non-GNSS sensor data to calculate said navigation information of said GNSS enabled device by said single function module.

Preferably, the method further comprises correcting said collected navigation-related non-GNSS sensor data based on said calculated navigation information of said GNSS enabled device.

Preferably, the method further comprises correcting one or more of the plurality of sensors based on the calculated navigation information of the GNSS enabled device.

According to one aspect of the invention, there is provided a system for processing a signal, the system comprising:

one or more circuits for use in a Global Navigation Satellite System (GNSS) -enabled device for processing a plurality of sensors, the one or more circuits to:

collecting GNSS measurement data and navigation-related non-GNSS sensor data;

formatting said collected navigation-related non-GNSS sensor data to be in accordance with a format of said collected GNSS measurement data; and

calculating navigation information of the GNSS enabled device by a single function module (single function) using the collected GNSS measurement data and the formatted non-GNSS sensor data.

Preferably, the plurality of sensors comprises at least two of a cellular radio, a wireless lan (wifi) radio, a bluetooth radio, an FM radio, a magnetic sensor, a motion sensor, a rate gyroscope, a pressure sensor, an image sensor, and/or a sonar sensor.

Preferably, the one or more circuits are operable to estimate a measurement error in the collected navigation-related non-GNSS sensor data.

Preferably, the one or more circuits are operable to determine a measurement accuracy of the collected navigation-related non-GNSS sensor data based on the estimated measurement error.

Preferably, the one or more circuits are operable to remove erroneous measurement data from the collected navigation-related non-GNSS sensor data based on the determined accuracy of measurement.

Preferably, the one or more circuits are operable to selectively employ the collected navigation-related non-GNSS sensor data based on the determined measurement accuracy.

Preferably, the one or more circuits are operable to time-stamp the navigation-related non-GNSS sensor data employed.

Preferably, said one or more circuits are operable to combine said collected GNSS measurement data with said time-stamped navigation-related non-GNSS sensor data to calculate said navigation information of said GNSS enabled device by said single function module.

Preferably, the one or more circuits are operable to correct the collected navigation-related non-GNSS sensor data based on the calculated navigation information of the GNSS enabled device.

Preferably, the one or more circuits are operable to calibrate one or more of the plurality of sensors based on the computed navigation information of the GNSS enabled device.

Various advantages, aspects and novel features of the invention, as well as details of an illustrated embodiment thereof, will be more fully described with reference to the following description and drawings.

Drawings

FIG. 1 is a schematic diagram of an exemplary communication system for computing generic hybrid navigation information for a GNSS enabled device using hybrid navigation-related non-GNSS sensor data in accordance with an embodiment of the present invention;

FIG. 2 is a schematic diagram of an exemplary GNSS enabled device for merging hybrid navigation-related non-GNSS sensor data to compute generic hybrid navigation information for the GNSS enabled device in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of an exemplary host CPU architecture of a GNSS enabled device that may be operable to compute generic hybrid navigation information for the GNSS enabled device using hybrid navigation-related non-GNSS sensor data in accordance with an embodiment of the present invention;

FIG. 4 is a flowchart of exemplary steps performed by a GNSS enabled device to combine hybrid navigation-related non-GNSS sensor data for GNSS applications in accordance with embodiments of the present invention;

FIG. 5 is a flowchart illustrating exemplary steps performed by a GNSS enabled device to calibrate collected non-GNSS sensor data using generic hybrid navigation information of the GNSS enabled device, in accordance with an embodiment of the present invention.

Detailed Description

The invention relates to a method and a system for calculating generic hybrid navigation information for a GNSS enabled device. In various embodiments of the invention, a Global Navigation Satellite System (GNSS) enabled device for processing multiple sensors may obtain GNSS measurement data from received GNSS signals. GNSS measurement data may be collected to compute navigation information, such as position, velocity, and/or time, for a GNSS enabled device. The GNSS enabled device may also receive navigation-related non-GNSS sensor data, referred to as non-GNSS measurement data, obtained or detected from non-GNSS signals from at least two of the plurality of sensors. The collected navigation-related non-GNSS sensor data may be automatically formatted into a data format that is the same as or consistent with the format of the GNSS measurement data. The formatted navigation-related non-GNSS sensor data may be combined with GNSS measurement data to calculate navigation information via a single functional module (e.g., a single GNSS application), regardless of sensor configuration or type. The sensors may be configured in various ways, such as cellular radios, wireless lans (wlans) of WiFi radios, motion sensors, and/or light sensors. The GNSS enabled device may estimate measurement errors in the collected navigation-related non-GNSS sensor data to quantify or determine a corresponding measurement accuracy. The collected navigation-related non-GNSS sensor data of low measurement accuracy (large measurement error) may be discarded, thereby removing erroneous measurement data from the collected navigation-related non-GNSS sensor data. The collected navigation-related non-GNSS sensor data of high measurement accuracy (small measurement error) may be employed to calculate navigation information for a GNSS enabled device through a single GNSS application. The navigation information of the GNSS enabled device may be calculated by time-stamping the non-GNSS sensor data related to the navigation employed and combining it with GNSS measurement data. The generated, computed navigation information may be utilized to calibrate the collected non-GNSS sensor data and corresponding sensors, as appropriate.

FIG. 1 is a schematic diagram of an exemplary communication system for computing generic hybrid navigation information for a GNSS enabled device using hybrid navigation-related non-GNSS sensor data in accordance with an embodiment of the present invention. Referring to fig. 1, a communication system 100 is shown. The communication system 100 includes a GNSS enabled device 112, 116, a GNSS satellite 120, a sensor 132, 136, and a plurality of sensor targets 140.

The GNSS enabled device (e.g., the GNSS enabled device 112) may be communicatively coupled to one or more sensors (e.g., the sensors 132 and 136). The GNSS enabled device 112 may comprise suitable logic, circuitry, interfaces and/or code that may be operable to simultaneously receive GNSS satellite broadcast signals from GNSS satellites in view (e.g., the GNSS satellites 120) and sensor data from multiple sensor targets 140 collected via the sensors 132 and 136. The collected sensor data may also be referred to as non-GNSS measurement data or non-GNSS sensor data, which is obtained or detected on the appropriate non-GNSS signals by the sensors 132 and 136. The GNSS enabled device 112 may be operable to obtain various GNSS measurement data (e.g., pseudoranges and/or carrier phases) from the received GNSS signals. GNSS measurement data may be collected and stored to compute navigation information (e.g., GNSS position, velocity, and/or time (PVT)) for the GNSS enabled device 112. For example, the GNSS enabled device 112 may be operable to run or execute a single functional module (e.g., a GNSS application) using stored GNSS measurement data for navigation information calculation. The GNSS application may include a software library (executable) and/or code that is executable or run for a given input read in a data format of GNSS measurement data. The GNSS application may provide or output navigation information for the GNSS enabled device 112.

In an exemplary embodiment of the invention, the GNSS enabled device 112 may utilize the same GNSS application to incorporate or process mixed navigation-related non-GNSS sensor data for navigation information calculation. The GNSS application may be used to calculate or determine navigation information for the GNSS enabled device 112 without prior knowledge of the source from which the hybrid navigation-related non-GNSS sensor data may originate. Navigation-related non-GNSS sensor data may be collected via one or more sensors 132 and 136 configured in various ways. The sensors 132, 136 may comprise suitable logic, circuitry, interfaces and/or code that may be operable to collect data from a plurality of sensor targets 140. The sensors 132, 136 may be configured as, for example, cellular radios (radios), wireless LAN (WiFi) radios, Bluetooth radios, FM radios, accelerometers, magnetic compasses, rate gyroscopes (rate gyros), terrain model look-up tables, altimeters, cameras, and/or motion sensors. The sensor target 140 may include outdoor and/or indoor objects, spaces, and/or other things that may be detected by the sensors 132 and 136. For example, the sensor target may be an indoor access point, a cellular base station, a WiMAX base station, an FM transmission station, a TV transmission station, a bluetooth headset, a map, a train station, a bus station, an airport, light, sound, and/or a device that can transmit or indicate relevant navigation information.

In an exemplary embodiment of the invention, the GNSS enabled device 112 may automatically format or map the collected navigation-related non-GNSS sensor data to conform with or fit a data format (e.g., a GNSS measurement data format) supported by the GNSS application. For example, in some cases, the collected navigation-related non-GNSS sensor data may include WiFi measurement data. The GNSS enabled device 112 may convert the WiFi measurement data to position data, velocity data, and/or time data in a GNSS measurement data format. In this regard, the GNSS enabled device 112 may isolate or decouple the use of GNSS applications from the underlying sensor software interface or infrastructure. Now, the navigation-related non-GNSS sensor data in formatted, GNSS measurement data format may become input for the GNSS application. The GNSS enabled device 112 may maintain the same GNSS application for navigation information computation by (over) GNSS measurement data and/or non-GNSS sensor data (e.g., collected hybrid navigation-related non-GNSS sensor data), regardless of the respective sensor configuration or type. Thus, the computed navigation information from the GNSS application may be referred to as generic hybrid navigation information for the GNSS enabled device 112.

In an exemplary embodiment of the invention, the GNSS enabled device 112 may quantify the measurement accuracy based on the collected navigation-related non-GNSS sensor data. In this regard, the GNSS enabled device 112 may determine or estimate a measurement error (e.g., Root Mean Square Error (RMSE)) in the collected navigation-related non-GNSS sensor data. The GNSS enabled device 112 may determine whether the collected navigation-related non-GNSS sensor data is good or accurate for navigation information calculation based on the corresponding measurement error estimates. For example, navigation-related non-GNSS sensor data collected with large measurement errors is less accurate than navigation-related non-GNSS sensor data collected with smaller measurement errors. In this regard, the collected navigation-related non-GNSS sensor data of low measurement accuracy may be discarded, thereby removing erroneous measurement data from the collected navigation-related non-GNSS sensor data. The collected high measurement accuracy navigation-related non-GNSS sensor data may be employed for navigation information calculation. In this regard, the GNSS enabled device 112 may timestamp or timestamp the employed navigation-related non-GNSS sensor data. The generated time-stamped or time-stamped navigation-related non-GNSS sensor data may become input to a GNSS application for navigation information computation. In this regard, the GNSS application may combine the time-stamped navigation-related non-GNSS sensor data with the GNSS measurement data to compute generic hybrid navigation information for the GNSS enabled device 112.

In an exemplary embodiment of the invention, the GNSS enabled device 112 may utilize generic hybrid navigation information provided by the GNSS application to correct the collected navigation-related non-GNSS sensor data and/or corresponding sensors. In this regard, the GNSS enabled device 112 may evaluate the measurement accuracy of the generic hybrid navigation information to determine whether to employ or utilize the navigation information output from the GNSS application for sensor corrections. The generic hybrid navigation information with high measurement accuracy may be used to correct collected navigation-related non-GNSS sensor data and/or corresponding sensors. For example, in some cases, the GNSS enabled device 112 may include an accelerometer (sensor) that functions as a step counter (step counter). The step size used by the accelerometer may initially be unknown. The speed output from the GNSS application in the GNSS enabled device 112 may have less measurement error when the GNSS enabled device 112 is outdoors and has a clear view in the air. The GNSS enabled device 112 may then use the velocity output from the GNSS application to calibrate the accelerometer steps. In the case where the GNSS enabled device 112 is indoors and does not have a clear aerial view, the velocity output from the GNSS application may have large measurement errors. The GNSS enabled device 112 may stop using the velocity output from the GNSS application to calibrate the accelerometer steps.

A GNSS satellite (e.g., GNSS satellite 122) may comprise suitable logic, circuitry, interfaces and/or code that may be operable to provide satellite navigation information to various GNSS receivers on earth. The GNSS satellite 122 may be operable to periodically broadcast its own ephemeris. For example, where the GNSS satellites 122 are GPS satellites, the GNSS satellites 122 may broadcast GPS ephemeris every 30 seconds, which may take a total of 18 seconds to transmit full ephemeris. The broadcast ephemeris may be used to calculate navigation information, such as position, velocity, and clock information, for a GNSS receiver, such as the GNSS enabled device 112. The GNSS satellites 122 may be operable to update ephemeris, for example, every two hours. The broadcast ephemeris is valid for a limited period of time, such as 2 to 4 hours, from the time of broadcast to the future.

In an exemplary operation, a GNSS enabled mobile device (e.g., the GNSS enabled mobile device 112) may be operable to simultaneously receive GNSS satellite signals from the GNSS satellites 120 and non-GNSS sensor data collected via the sensors 132 and 136. The GNSS enabled mobile device 112 may be operable to obtain GNSS measurement data based on the received GNSS signals. The generated GNSS measurement data may become input for a GNSS application used for navigation information calculation. The GNSS application may calculate or output navigation information (e.g., position, velocity, and/or time (PVT)) for the GNSS enabled mobile device 112. In various exemplary embodiments of the invention, the GNSS enabled mobile device 112 may track and collect navigation-related non-GNSS sensor data via the sensors 132 and 136. The collected navigation-related non-GNSS sensor data may be automatically converted or formatted to a format compatible with the format of the GNSS measurement data. Measurement errors (e.g., RMSE) in the collected navigation-related non-GNSS sensor data may be determined or estimated to quantify or determine a corresponding measurement accuracy. The GNSS enabled mobile device 112 may determine that the collected navigation-related non-GNSS sensor data is acceptable or rejected for navigation information computation based on the respective measurement accuracy. For example, collected navigation-related non-GNSS sensor data with low measurement accuracy may be discarded, thereby removing measurement errors from navigation information calculations. A time stamp or timestamp may be added to the collected navigation-related non-GNSS sensor data with high measurement accuracy. The generated time-stamped or time-stamped navigation-related non-GNSS sensor data may become input to a GNSS application for navigation information computation. In this regard, the GNSS application may employ non-GNSS measurement data (e.g., time-stamped navigation-related non-GNSS sensor data) for navigation information computation by the same GNSS application regardless of where the non-GNSS measurement data came from. The GNSS application may combine GNSS measurement data with non-GNSS measurement data (e.g., navigation-related non-GNSS sensor data) to enhance or improve the accuracy of navigation information calculations. The generated navigation information output from the GNSS application may be used to calibrate the collected non-GNSS sensor data and/or sensors, as appropriate. For example, the GNSS enabled device 112 may include a magnetic compass (sensor) that acts as a director. In some cases, where the magnetic compass is biased, the navigation information from the GNSS application may include a heading (heading) that is the direction in which the GNSS enabled device 112 is currently moving. In this regard, the enabling device 112 may utilize the heading output from the GNSS application to correct or compensate for the bias of the magnetic compass and thus improve the heading accuracy of the magnetic compass.

FIG. 2 is a diagram of an exemplary GNSS enabled device for merging hybrid navigation-related non-GNSS sensor data to compute generic hybrid navigation information for the GNSS enabled device in accordance with an embodiment of the present invention. Referring to FIG. 2, a GNSS enabled device 200 is shown. The GNSS enabled apparatus 200 may comprise a GNSS radio 210, a plurality of sensors 222a-222c, a host central processor 230, a GNSS application 232 and a memory 240.

The GNSS radio 210 may comprise suitable logic, circuitry, interfaces and/or code that may be operable to detect and receive GNSS signals from a plurality of GNSS satellites in view (e.g., the GNSS satellite 122 and 126). The received GNSS signals may be used for various GNSS measurements, such as pseudoranges and/or carrier phases for corresponding broadcast GNSS satellites. The GNSS radio 210 may provide the received GNSS signals to the host CPU 230 for further analysis.

The sensor (e.g., sensor 222a) may comprise suitable logic, circuitry, interfaces and/or code that may be operable to receive or collect non-GNSS data from various sensor targets (e.g., sensor target 140). The collected non-GNSS sensor data may be transmitted to the host CPU 230 for further analysis. The sensor 222a may be configured in various ways. For example, the sensor 222a may be configured as a cellular transceiver, a WiMAX transceiver, a bluetooth transceiver, a WLAN transceiver, an image sensor, a light sensor, an audio sensor, and/or a location sensor.

The host CPU 230 may comprise suitable logic, circuitry, interfaces and/or code that may enable management and/or manipulation of the operation of associated device components (e.g., the GNSS radios 210, the sensors 222a-222c and/or the GNSS applications 232) based on the application. For example, the host CPU 230 may be configured to activate or deactivate one or more associated device components (e.g., GNSS radios 210) as needed to conserve power. The host CPU 230 may perform various GNSS measurements (e.g., pseudoranges and/or carrier phases) from the received GNSS signals. The host CPU 230 may provide GNSS measurement data to a GNSS application 232 for navigation information computation of the GNSS enabled device 220.

The GNSS application 232 may comprise suitable logic, interfaces and/or code that may be operable to execute or execute code (e.g., software libraries) to provide or output navigation information for the GNSS enabled device 200. The inputs to the GNSS application 232 may include GNSS survey data and non-GNSS survey data, such as hybrid navigation-related non-GNSS sensor data collected by various sensors (e.g., light sensors and cellular radios). In this regard, the collected navigation-related non-GNSS sensor data may be automatically formatted or converted to a GNSS measurement data format supported by the GNSS application 232. The formatted navigation-related non-GNSS sensor data, regardless of the corresponding sensor configuration or type, may be input to the GNSS application 232 for navigation information computation. The generated navigation information output from the GNSS application 232 may be used to support various applications (e.g., positioning applications), and/or to correct the collected navigation-related non-GNSS sensor data and/or the corresponding sensors 222a-222 c.

The memory 240 may comprise suitable logic, circuitry, interfaces and/or code that may be operable to store information (e.g., executable instructions and data) that may be utilized by the host CPU 230 and/or other associated component units (e.g., the GNSS radio 210 and/or the sensors 222a-222 c). Memory 240 may include RAM, ROM, low latency nonvolatile memory (e.g., flash memory), and/or other suitable electronic data storage.

In an exemplary operation, the host CPU 230 of the GNSS enabled mobile device 200 may be configured to obtain GNSS measurement data from GNSS signals received by the GNSS radio 210. GNSS measurement data may be collected to provide input to the GNSS application 232 to compute navigation information (e.g., GNSS position, velocity, and/or time) for the GNSS enabled apparatus 200. Host CPU 230 may also receive navigation-related non-GNSS sensor data collected by sensors 222a-222c, which may be configured in various ways, such as a camera, rate gyro, terrain model look-up table, and/or cellular radio. In this regard, the collected navigation-related non-GNSS sensor data may include or indicate navigation information (e.g., location, velocity, and/or time) associated in one way or another with the respective sensor target. For example, the signal strength of the collected navigation-related non-GNSS sensor data may indicate the relative distance between the GNSS enabled device 200 and the corresponding sensor target (e.g., WiFi access point). In another example, the sensor (e.g., sensor 222a) may be configured as a cellular transceiver device. Cellular doppler of the respective collected non-GNSS sensor data may indicate or relate to speed and/or heading information associated with the respective sensor target (e.g., cellular base station).

To quantify or determine the measurement accuracy, the measurement error (e.g., RMSE) of the collected navigation-related non-GNSS sensor data may be evaluated or estimated. In this regard, the GNSS application 232 may discard the collected navigation-related non-GNSS sensor data having low measurement accuracy (large measurement error) to remove erroneous measurement data from the navigation information calculation. The GNSS application 232 may employ or incorporate collected navigation-related non-GNSS sensor data with high measurement accuracy (small measurement error) for navigation information computation. The navigation-related non-GNSS sensor data employed may be formatted into a GNSS measurement data format. In this regard, non-GNSS data collected from various sensor targets (e.g., cellular base stations, WiFi access points, bluetooth devices, natural maps (physical maps), and/or navigation-related sounders) may be automatically formatted as input to the GNSS application 232 for navigation information computation. In this regard, the host CPU 230 may run the same GNSS application 232 for navigation information computation with GNSS measurement data and non-GNSS measurement data (e.g., formatted navigation-related non-GNSS sensor data), regardless of where the input data originated. Additionally, the GNSS application 232 may combine the GNSS measurement data with the formatted navigation-related non-GNSS sensor data to compute navigation information for the GNSS enabled device 200. The resulting computed navigation information of the GNSS enabled device 200 may be used to calibrate the sensors and/or the non-GNSS sensor data collected by the respective sensors 222a-222 c.

FIG. 3 is a diagram of an exemplary host CPU architecture for a GNSS enabled device that may be operable to compute generic hybrid navigation information for the GNSS enabled device using hybrid navigation-related non-GNSS sensor data in accordance with an embodiment of the present invention. Referring to FIG. 3, a host CPU architecture 300 of the GNSS enabled device 200 is shown. The host CPU 300 includes a host kernel module 310 and a user application module 320.

Host kernel module 310 comprises suitable logic, interfaces, and/or code that may be operable to manage and/or control the resources of host CPU 300. The host kernel module 310 may include a plurality of sensor drivers 212 and 216. Each sensor drive may be assigned or associated with a particular sensor. The sensor driver (e.g., sensor driver 312) may comprise suitable logic, interfaces, and/or code that may enable communication between the sensor (e.g., sensor 222a) and the host CPU 300. In this regard, the sensor driver 312 may be configured to receive non-GNSS sensor data collected by the sensor 222 a. Depending on the sensor configuration, the received non-GNSS sensor data may originate from various sensor targets (e.g., cellular base stations, WiFi access points, bluetooth devices, and/or natural maps). The sensor driver 312 may forward or transmit the received non-GNSS sensor data to the user application module 320 for navigation information calculation.

The user application module 320 may comprise suitable logic, interfaces and/or code that may enable control and management of user applications (e.g., GNSS applications). The user application module 320 may include a consistency driver 322, a measurement error estimator 324, and a GNSS application or function 326.

The coherency driver 322 may comprise suitable logic, interfaces, and/or code that may enable navigation-related non-GNSS sensor data to be converted or formatted into a data format that may be the same as or consistent with the format of the GNSS measurement data. The coherency driver 322 may also be used to receive navigation information of the GNSS enabled device 200 provided by the GNSS application or function 326. The coherency driver 322 may utilize the received navigation information to correct one or more of the sensors 312 and/or the corresponding collected navigation-related non-GNSS sensor data, as appropriate.

The measurement error estimator 324 may comprise suitable logic, interfaces and/or code that may enable calculation or evaluation of measurement errors (e.g., RMSE) in the collected navigation-related non-GNSS sensor data to quantify or otherwise determine a corresponding measurement accuracy. In this regard, formatted navigation-related non-GNSS sensor data with low measurement accuracy may be discarded, thereby removing erroneous measurement data from the navigation information calculation. The measurement error estimator 324 may time stamp or timestamp the formatted navigation-related non-GNSS sensor data with high measurement accuracy. The generated time-stamped or time-stamped navigation-related non-GNSS sensor data may become an input to the GNSS application or function 326.

The GNSS application or function 326 may comprise a plurality of global position libraries (GLLs) and/or code for computing navigation information of the GNSS enabled device 200. In this regard, the same GNSS application or function 326 may be utilized to employ various non-GNSS sensor data collected by sensors in various sensor configurations for navigation information calculation, regardless of sensor type. In this regard, the GNSS application or function 326 may be operable to calculate navigation information of the GNSS enabled device 200 using GNSS measurement data and non-GNSS measurement data (e.g., navigation-related non-GNSS sensor data). To improve or enhance the accuracy of the navigation information calculation, the GNSS application or function 326 may combine GNSS measurement data with non-GNSS measurement data (e.g., collected navigation-related non-GNSS sensor data) to calculate navigation information for the GNSS enabled device 200. The resulting calculated navigation information may be provided or transmitted to the coherency driver 322 for use in correcting sensor data and/or sensors, as appropriate.

In an exemplary operation, a sensor driver (e.g., sensor driver 312) may be loaded on host kernel module 310. The loaded sensor driver 312 may receive non-GNSS sensor data collected by the relevant sensor (e.g., sensor 222a) from the appropriate sensor target. The collected non-GNSS sensor data may be transmitted to the coherency driver 322. The coherency driver 322 may automatically convert or format the collected non-GNSS sensor data into a GNSS measurement data format. The measurement error in the collected non-GNSS sensor data may be estimated or estimated by the measurement error estimator 324. In this regard, various metrics (e.g., RMSE) may be implemented to quantify or determine the measurement accuracy of the collected non-GNSS sensor data. The measurement error estimator 324 may time stamp or timestamp the formatted navigation-related non-GNSS sensor data with high measurement accuracy. The generated time-stamped non-GNSS sensor data may become an input to the GNSS application or function 326. In this regard, the GNSS application may combine GNSS measurement data and non-GNSS measurement data (e.g., time-stamped navigation-related non-GNSS sensor data from the measurement error estimator 324) for navigation information calculation. In this regard, the GNSS application or function 326 may calculate navigation information in conjunction with the non-GNSS measurement data regardless of where the non-GNSS measurement data originates. The navigation information output from the GNSS application or function 326 may be provided to the coherency driver 322. The coherency driver 322 may utilize navigation information from the GNSS application or function 326 to calibrate the sensors and/or collected non-GNSS sensor data, as appropriate.

FIG. 4 is a flowchart of exemplary steps performed by a GNSS enabled device to combine hybrid navigation-related non-GNSS sensor data for GNSS applications in accordance with an embodiment of the present invention. Referring to FIG. 4, exemplary steps begin in step 402, where the GNSS enabled device 200 may be communicatively coupled to the GNSS radio 210 and the various sensor configurations of the sensors 222a-222c in step 402. Sensor drivers 312 and 316 can be loaded on the host kernel module 310 to enable communication between the host CPU 300 and the respective sensors 222a-222 c. At step 404, the coherency driver 322 may receive the navigation-related non-GNSS sensor data from the sensor drivers 312 and 316, which may be collected by the respective sensors 222a-222c from the appropriate sensor targets 140. At step 406, the coherency driver 322 may automatically format or convert the collected navigation-related non-GNSS sensor data into a format that is consistent with the format of the GNSS measurement data supported by the GNSS application or function 326. At step 408, the measurement error estimator 324 may be used to estimate or determine a measurement error (e.g., RMSE) in the collected navigation-related non-GNSS sensor data. At step 410, the measurement error estimator 324 may determine whether the collected navigation-related non-GNSS sensor data is good or accurate for navigation information calculation based on the measurement error estimate.

In the event that the collected navigation-related non-GNSS sensor data is good enough for navigation information calculation, then at step 412, the measurement error estimator 324 may time-stamp the corresponding formatted navigation-related non-GNSS sensor data and input the resulting time-stamped non-GNSS sensor data into the GNSS application or function 326. In this regard, the host CPU 300 may signal the GNSS application or function 326 to compute non-GNSS sensor data that combines GNSS measurement data with time-stamped navigation-related data for navigation information. At step 414, the host CPU 300 may utilize the input data to control the operation of the GNSS application or function 326 to calculate navigation information (e.g., GNSS position, velocity, and/or time) of the GNSS enabled device 200. At step 416, the coherency driver 322 may be provided with the generated, calculated navigation information from the GNSS application or function 326.

In the event that the collected navigation-related non-GNSS sensor data is not good enough or accurate enough for the navigation information calculation, at step 410, then, at step 418, the collected navigation-related non-GNSS sensor data is discarded, thereby removing erroneous measurement data from the navigation information calculation. Exemplary steps may return to step 404.

FIG. 5 is a flowchart illustrating exemplary steps performed by a GNSS enabled device to calibrate collected non-GNSS sensor data using generic hybrid navigation information of the GNSS enabled device, in accordance with an embodiment of the present invention. Referring to FIG. 5, exemplary steps may begin at step 502, where the GNSS enabled device 200 may be communicatively coupled to the GNSS radio 210 and the various sensor configurations of the sensors 222a-222c at step 502. The GNSS application or function 326 may employ GNSS measurement data and non-GNSS measurement data (e.g., various navigation-related non-GNSS sensor data) to compute (generic hybrid) navigation information for the GNSS enabled device 200. The consistency driver 322 may monitor or track navigation information output, such as position, velocity, and time (PVT), from GNSS applications or functions 326. In step 504, the coherency driver 322 may output, infer or estimate desired navigation information in the collected non-GNSS sensor data based on the navigation information from the GNSS application or function 326. At step 506, the coherency driver 322 may compare the inferred navigation information to the actual navigation information represented in the collected navigation-related non-GNSS sensor data. At step 508, the coherency driver 322 may determine whether the inferred navigation information matches or matches the actual navigation information for the collected navigation-related non-GNSS sensor data. In the event that the inferred navigation information does not match or match the actual navigation information for the collected navigation-related non-GNSS sensor data, then, at step 510, the consistency driver 322 may utilize the inferred navigation information to correct the non-GNSS sensor data and/or the corresponding sensor. Exemplary steps may return to step 502.

In step 508, in the event that the inferred navigation information matches or matches the actual navigation information for the collected navigation-related non-GNSS sensor data, then the exemplary steps may return to step 502.

Various aspects of methods and systems for computing generic hybrid navigation information for GNSS enabled devices are provided. In various exemplary embodiments of the invention, the GNSS enabled device 112 may manage or process various device components, such as the GNSS radio 210 and the plurality of sensors 222a-222c, via the host CPU 230. The GNSS enabled device 112 may be operable to obtain various GNSS measurement data based on GNSS signals received by the GNSS radios 210. GNSS measurement data may be collected and stored in memory 240 for use in computing navigation information (e.g., position, velocity, and/or time) of the GNSS enabled device 112 by a single functional module, such as the GNSS application or function 326. The GNSS enabled device 112 may also receive navigation-related non-GNSS sensor data from the sensor driver 312 and 316, which is received by at least two sensors 222a-222c from respective sensor targets (e.g., cellular base stations, rate gyroscopes, and terrain model look-up tables). The coherency driver 322 may format the collected navigation-related non-GNSS sensor data into a data format of GNSS measurement data. The generated formatted navigation-related non-GNSS sensor data may be combined with GNSS measurement data to form or be input to a single functional module, i.e., GNSS application or function 326. In this regard, the GNSS application or function 326 may combine the collected navigation-related non-GNSS sensor data to compute navigation information for the GNSS enabled device 112 regardless of the sensor configuration or type. For example, the sensor (e.g., sensor 222) may be configured as a cellular transceiver, a wireless lan (wlan) or WiFi transceiver, a ZigBee transceiver, a bluetooth transceiver, an FM transceiver, a magnetic sensor, a motion sensor, an image sensor, a sonar sensor, a pressure sensor, and/or a rate gyroscope.

The GNSS enabled device 112 may estimate the measurement error in the collected navigation-related non-GNSS sensor data via a measurement error estimator 324. Various metrics (e.g., RMSE) may be used for measurement error estimation. The measurement accuracy of the collected navigation-related non-GNSS sensor data may be estimated or determined based on the measurement error. The collected navigation-related non-GNSS sensor data with low measurement accuracy (large measurement error) may be discarded, thereby removing erroneous measurement data from the collected navigation-related non-GNSS sensor data. The measurement error estimator 324 may selectively employ formatted navigation-related non-GNSS sensor data based on the respective determined measurement accuracy. The measurement error estimator 324 may time-stamp or timestamp the employed navigation-related non-GNSS sensor data to provide the generated time-stamped navigation-related non-GNSS sensor data to the GNSS application or function 326. The GNSS application or function 326 may combine the GNSS measurement data with time-stamped navigation-related non-GNSS sensor data to compute navigation information for the GNSS enabled device 112. The generated navigation information of the GNSS enabled device may be provided to the coherency driver 322. In this regard, the coherency driver 322 may correct the sensor data collected by the sensors 222a-222c to improve the accuracy of the navigation information calculations. The coherency driver 322 may also, where appropriate, calibrate one or more of the sensors 222a-222c based on the computed navigation information for the GNSS enabled device.

Other embodiments of the present invention provide a machine and/or computer readable storage and/or medium, having stored thereon, a machine code and/or a computer program having at least one code section executable by a machine and/or a computer, thereby enabling the machine and/or computer to perform the steps for computing a generic hybrid position of a GNSS enabled device as described herein.

The present invention can be realized in hardware, software, or a combination of hardware and software. The present invention can be realized in a centralized fashion in at least one computer system, or in a distributed fashion where different elements are spread across several interconnected computer systems. Any kind of computer system or other apparatus adapted for carrying out the methods described herein is suited. A typical combination of hardware and software could be a general purpose computer system with a computer program that, when being loaded and executed, controls the computer system such that it carries out the methods described herein.

The present invention can also be implemented by a computer program product, which comprises all the features enabling the implementation of the methods of the invention and which, when loaded in a computer system, is able to carry out these methods. The computer program in the present document refers to: any expression, in any programming language, code or notation, of a set of instructions intended to cause a system having an information processing capability to perform a particular function either directly or after either or both of the following a) conversion to another language, code or notation; b) reproduced in different formats to implement specific functions.

While the invention has been described with reference to several particular embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Cross Reference to Related Applications

This patent application claims priority from U.S. provisional application having application date No.61/406,433, 25/2010, and is incorporated by reference and referenced in its entirety.

Claims (10)

1. A method of processing a signal, the method comprising:

in a Global Navigation Satellite System (GNSS) enabled device for processing a plurality of sensors:

collecting GNSS measurement data and navigation-related non-GNSS sensor data;

formatting said collected navigation-related non-GNSS sensor data to be in accordance with a format of said collected GNSS measurement data; and

calculating navigation information for the GNSS enabled device through a single function module using the collected GNSS measurement data and the formatted non-GNSS sensor data.

2. The method of claim 1, wherein the plurality of sensors comprises at least two of a cellular radio, a wireless lan (wifi) radio, a bluetooth radio, an FM radio, a magnetic sensor, a motion sensor, a rate gyroscope, a pressure sensor, an image sensor, and/or a sonar sensor.

3. The method of claim 1, comprising estimating a measurement error in the collected navigation-related non-GNSS sensor data.

4. The method of claim 3, comprising determining a measurement accuracy of the collected navigation-related non-GNSS sensor data based on the estimated measurement error.

5. The method of claim 4, comprising removing erroneous measurement data from the collected navigation-related non-GNSS sensor data based on the determined measurement accuracy.

6. The method of claim 4, comprising selectively employing the collected navigation-related non-GNSS sensor data based on the determined measurement accuracy.

7. The method of claim 6, comprising time-stamping the navigation-related non-GNSS sensor data employed.

8. The method of claim 7, comprising combining the collected GNSS measurement data with the time-stamped navigation-related non-GNSS sensor data to calculate the navigation information of the GNSS enabled device by the single function module.

9. The method according to claim 8, characterized in that it comprises correcting said collected navigation-related non-GNSS sensor data and/or corresponding sensors based on said calculated navigation information of said GNSS enabled device.

10. A system for processing a signal, the system comprising:

one or more circuits for use in a Global Navigation Satellite System (GNSS) -enabled device for processing a plurality of sensors, the one or more circuits to:

collecting GNSS measurement data and navigation-related non-GNSS sensor data;

formatting said collected navigation-related non-GNSS sensor data to be in accordance with a format of said collected GNSS measurement data; and

calculating navigation information for the GNSS enabled device via a single function module using the collected GNSS measurement data and the formatted non-GNSS sensor data.