Augmentation of indoor navigation methods and apparatus with map matching constraints

1. A computer-implemented method for determining an estimated user location, implemented in a computing system programmed to perform the method comprising:

receiving, in the computer system, an indoor map database associated with an indoor geographic location including a plurality of indoor map features;

determining, in the computer system, an estimated first user location within the indoor geographic location;

receiving, in the computer system, a first plurality of physical perturbations from a plurality of physical sensors in response to the physical perturbations of the computer system;

determining, in the computer system, an estimated second user location within the indoor geographic location in response to the estimated first user location and to the first plurality of physical perturbations;

determining, in the computer system, a wander zone constraint in response to the first plurality of physical perturbations and the indoor geographic location, wherein the wander zone constraint is based on whether a user is positioned in an open indoor space within the indoor geographic location with a plurality of possible routes;

determining, in the computer system, a modified estimated second user location in response to the estimated second user location and to at least one indoor map feature from the plurality of indoor map features while the wander zone constraint is inactive;

determining, in the computer system a modified estimated second user location in response to the estimated second user location while deemphasizing the plurality of indoor map features while the wander zone constraint is active; and

providing, in the computer system, an indication of the modified estimated second user location with regards to the indoor geographic location.

2. The method of claim 1 wherein providing, in the computer system, an indication of the modified estimated second user location comprises displaying, with the computer system, an icon superimposed upon a map on a display.

3. The method of claim 1 wherein determining, in the computer system, the first plurality of physical perturbations from the plurality of physical sensors comprises:

determining, in the computer system, lateral perturbations from an accelerometer; and

determining, in the computer system, rotational perturbations from a gyroscope.

4. The method of claim 1 wherein determining, in the computer system, the first plurality of physical perturbations from the plurality of physical sensors comprises:

determining, in the computer system, magnetic field perturbations from a magnetometer.

5. The method of claim 1 wherein determining, in the computer system, the first plurality of physical perturbations from the plurality of physical sensors comprises:

determining, in the computer system, radio or satellite frequency perturbations from a receiver.

6. The method of claim 1 wherein a map feature of the plurality of map features is selected from a group consisting of: walls, obstacles, corridors, and routes.

7. The method of claim 6 wherein determining, in the computer system, the modified estimated second user location comprises biasing, in the computer system, the estimated second user location to form the modified estimated second user location in response to a location of the map feature.

8. The method of claim 6 wherein determining, in the computer system, the modified estimated second user location comprises:

determining, in the computer system, whether the estimated second user location violates a physical constraint associated with the map feature; and

when the estimated second user location violates the physical constraint associated with the map feature, the method comprises determining, in the computer system, the modified estimated second user location in response to the estimated second user location and to the physical constraint associated with the map feature.

9. The method of claim 1

wherein the plurality of map features comprises a first map feature and a second map feature;

wherein the first map feature is associated with a first weighting factor;

wherein the second map feature is associated with a second weighting factor; and

wherein determining, in the computer system, the modified estimated second user location comprises:

determining whether the estimated second user location is closer to a location of the first map feature or to a location of the second map feature;

wherein determining, in the computer system, the modified estimated second user location comprises biasing in the computer system, the estimated second user location to form the modified estimated second user location in response to the location of the first map feature and to the first weighting factor when the estimated second user location is closer to the location of the first map feature; and

wherein determining, in the computer system, the modified estimated second user location comprises biasing in the computer system, the estimated second user location to form the modified estimated second user location in response to the location of the second map feature and to the second weighting factor when the estimated second user location is closer to the location of the second map feature.

10. The method of claim 9 wherein the second weighting factor is selected from a group consisting of: non-zero, zero.

11. A computer system programmed to determine and estimated use location comprising:

a memory for storing an indoor map database associated with an indoor geographic location including a plurality of indoor map features, and for storing an estimated first user location within the indoor geographic location;

a plurality of physical sensors for receiving physical perturbations of the computer system, and for determining a first plurality of physical perturbation in response to physical perturbations of the computing system; and

a processor coupled to the memory and the plurality of physical sensors,

wherein the processor is programmed for determining an estimated second user location within the indoor geographic location in response to the estimated first user location and to the first plurality of physical perturbations,

wherein the processor is programmed for determining a wander zone constraint in response to the first plurality of physical perturbations and the indoor geographic location, the wander zone constraint being based on whether a user is positioned in an open indoor space within the indoor geographic location with a plurality of possible routes;

wherein the processor is programmed for determining a modified estimated second user location in response to the estimated second user location and to at least one indoor map feature from the plurality of map features while the wander zone constraint is inactive,

wherein the processor is programmed for determining a modified estimated second user location in response to the estimated second user location while deemphasizing the plurality of indoor map features while the wander zone constraint is active,

and wherein the processor is programmed for indicating the modified estimated second user location with regards to the indoor geographic location.

12. The computer system of claim 11 further comprising:

a display coupled to the processor; and

wherein the processor is programmed for instructing the display to display an icon superimposed upon a map on the display in response to the modified estimated second user location and the geographic location.

13. The computer system of claim 11 wherein the plurality of physical sensors comprises an accelerometer for determining lateral perturbations;

and a gyroscope for determining rotational perturbations.

14. The computer system of claim 11 wherein the plurality of physical sensors comprises a magnetometer for determining magnetic field perturbations.

15. The computer system of claim 11 wherein the plurality of physical sensors comprises a radio or satellite frequency receiver for determining frequency perturbations.

16. The computer system of claim 11 wherein a map feature of the plurality of map features is selected form a group consisting of: walls, obstacles, corridors, and routes.

17. The computer system of claim 16 wherein the processor is programmed for biasing the estimated second user location to form the modified estimated second user location in response to a location of the map feature.

18. The computer system of claim 16

wherein the processor is programmed for determining whether the estimated second user location violates a physical constraint associated with the map feature; and

wherein when the estimated second user location violates the physical constraint associated with the map feature, the processor is programmed for determining the modified estimated second user location in response to the estimated second user location and to the physical constraint associated with the map feature.

19. The computer system of claim 18

wherein the plurality of map features comprises a first map feature and a second map feature;

wherein the first map feature is associated with a first weighting factor;

wherein the second map feature is associated with a second weighting factor; and

wherein the processor is programmed for determining whether the estimated second user location is closer to a location of the first map feature or to a location of the second map feature;

wherein when the estimated second user location is closer to the location of the first map feature, the processor is programmed for biasing the estimated second user location to form the modified estimated second user location in response to the location of the first map feature and to the first weighting factor; and

wherein when the estimated second user location is closer to the location of the second map feature, the processor is programmed for biasing the estimated second user location to form the modified estimated second user location in response of the location of the second map feature and to the second weighting factor.

20. The computer system of claim 19 wherein the second weighting factor is selected from a group consisting of: non-zero, zero.