Systems and methods for generating compensated speed values for doppler-enabled device
View Patent ↗Implementations relate to systems and methods for generating compensated speed values for a Doppler-enabled device. A portable wireless device can contain a GPS navigation engine ( 110 ) to capture position data ( 120 ) and Doppler speed data ( 118 ) from positioning satellites. The device can also generate position-based speed values from successive position readings and time intervals, to determine the current speed independently of the Doppler-based speed values. During degraded signal conditions, the Doppler-based speed values can drop to invalid levels. The device incorporates a combiner module ( 450 ) which compares the position-based and Doppler-based speed values and performs combination operations on those quantities to produce a compensated speed value ( 490 ). By selecting the maximum or otherwise combining those values, extreme excursions in speed values are avoided and accuracy promoted.
1. A portable device, comprising:
a wireless interface configured to receive a set of position signals; and
a processor, communicating with the wireless interface to receive a set of position coordinates and a corresponding set of timestamp values based on the set of position signals and to receive a set of Doppler speed values based on the set of position signals, the processor being configured to
generate a first position-based speed value representing a speed of the portable device based on the set of position coordinates and the corresponding set of timestamp values, filter the first position-based speed value to generate a second position based speed value representing a filtered position-based speed of the portable device,
filter a first Doppler-based speed value to generate a second Doppler based speed value representing a filtered Doppler-based speed of the portable device,
compare the second position-based speed value and the second Doppler based speed value, and
generate a compensated speed value representing the speed of the portable device based on the comparison.
2. The portable device of claim 1 , further comprising:
a navigation engine configured to receive the set of position signals and produce the set of position coordinates and the corresponding set of timestamp values and also produce the set of Doppler speed values.
3. The portable device of claim 2 , wherein the navigation engine comprises a Global Positioning System (GPS) receiver.
4. The portable device of claim 1 , wherein the filter of the first position-based speed value implements a Kalman filter to generate the second position-based speed value from at least the first position-based speed value.
5. The portable device of claim 1 , wherein the filter of the first Doppler-based speed value implements a Kalman filter to generate the second Doppler-based speed value from at least the first Doppler-based speed value.
6. The portable device of claim 1 , wherein the first position-based speed value is generated by dividing a traveled distance value by an elapsed time value as determined from the set of position coordinates and the corresponding set of timestamp values.
7. The portable device of claim 6 , wherein the processor is further configured to apply a clamp function to the set of position coordinates to limit the traveled distance value used to generate the first position-based speed value.
8. The portable device of claim 1 , wherein the comparison of the second position based speed value and the second Doppler-based speed value identifies a greatest value of the second position-based speed value and the second Doppler-based speed value.
9. The portable device of claim 8 , wherein the generation of the compensated speed value selects the greatest value.
10. The portable device of claim 1 , further comprising:
a memory, coupled to the processor, configured to store a plurality of compensated speed values as a speed output history for the portable device.
11. A computer implemented method to determine the speed of a portable device, comprising:
receiving, by a portable device, a set of positioning signals;
generating, by the portable device, a set of position coordinates of the portable device and a corresponding set of timestamp values based on the set of positioning signals;
generating, by the portable device, and a set of Doppler speed values based on the set of positioning signals;
generating, by the portable device, a first position-based speed value representing a speed of the portable device based on the set of position coordinates and the corresponding set of timestamp values, filter the first position-based speed value to generate a second position based speed value representing a filtered position-based speed of the portable device;
filtering, by the portable device, a first Doppler-based speed value to generate a second Doppler based speed value representing a filtered Doppler-based speed of the portable device;
comparing, by the portable device, the second position-based speed value and the second Doppler based speed value; and
generating, by the portable device, a compensated speed value representing the speed of the portable device based on the comparison.
12. The method of claim 11 , wherein receiving the set of position signals, generating the set of position coordinates and the corresponding set of timestamp values and producing the set of Doppler speed values is performed by a navigation engine of the portable device.
13. The method of claim 12 , wherein the navigation engine comprises a Global Positioning System (GPS) receiver.
14. The method of claim 11 , wherein the filtering of the first position-based speed value implements a Kalman filter to generate the second position-based speed value from at least the first position-based speed value.
15. The method of claim 11 , wherein the filtering of the first Doppler-based speed value implements a Kalman filter to generate the second Doppler-based speed value from at least the first Doppler-based speed value.
16. The method of claim 11 , wherein the first position-based speed value is generated by dividing a traveled distance value by an elapsed time value as determined from the set of position coordinates and the corresponding set of timestamp values.
17. The method of claim 16 , further comprising, applying a clamp function to the set of position coordinates to limit the traveled distance value used to generate the first position-based speed value.
18. The method of claim 11 , wherein the comparison of the second position based speed value and the second Doppler-based speed value identifies a greatest value of the second position-based speed value and the second Doppler-based speed value.
19. The method of claim 18 , wherein the generation of the compensated speed value selects the greatest value.