US 12,000,939 B2
Systems and methods of determining an improved user location using real world map and sensor data
Bhaskar Mehta, Menlo Park, CA (US); Chetan Bhadricha, Fremont, CA (US); Smruti Parichha, Union City, CA (US); and Jieru Cheng, Fremont, CA (US)
Assigned to GOOGLE LLC, Mountain View, CA (US)
Appl. No. 16/340,587
Filed by Google LLC, Mountain View, CA (US)
PCT Filed Mar. 20, 2017, PCT No. PCT/US2017/023200
§ 371(c)(1), (2) Date Apr. 9, 2019,
PCT Pub. No. WO2018/174847, PCT Pub. Date Sep. 27, 2018.
Prior Publication US 2020/0003906 A1, Jan. 2, 2020
Int. Cl. G01S 19/50 (2010.01); G01C 21/20 (2006.01); G01S 5/02 (2010.01)
CPC G01S 19/50 (2013.01) [G01C 21/206 (2013.01); G01S 5/0269 (2020.05)] 16 Claims
OG exemplary drawing
 
1. A computer-implemented method for determining a user device location, comprising:
obtaining, by one or more computing devices, an initial estimate of a location of a user device;
obtaining, by the one or more computing devices, maps information corresponding to a geographic area at least partially surrounding the initial estimate of the location of the user device, the maps information including one or more physical boundaries located at least in part within the geographic area at least partially surrounding the initial estimate of the location of the user device, wherein the maps information associates features within an environment of the user device as being conditioned on one or more other parameters including a mode of travel such that a first feature is incompatible with a first mode of travel and a second feature is incompatible with a second mode of travel;
obtaining, by the one or more computing devices, sensor data from one or more sensors provided within the user device;
determining, by the one or more computing devices, the mode of travel based on the sensor data;
determining, by the one or more computing devices, a set of permissible areas that can potentially include the user device, wherein the set of permissible areas is determined based at least in part on the one or more physical boundaries and at least in part on the mode of travel such that when the mode of travel is determined to be the first mode of travel, permissible areas corresponding to the first feature are excluded from the set of permissible areas and when the mode of travel is determined to be the second mode of travel, permissible areas corresponding to the second feature are excluded from the set of permissible areas;
determining, by the one or more computing devices, if any one or more portions of the initial estimate of the location of the user device conflict with the set of permissible areas that can potentially include the user device; and
revising, by the one or more computing devices, the initial estimate to provide a revised estimate for the location of the user device based at least in part on the set of permissible areas, by removing the one or more portions of the initial estimate that conflict with the set of permissible areas, the revised estimate corresponding to positional coordinates of the user device.