Granted Patent B2

US 12,498,219 · App. 18/421,777 · Granted Dec 16, 2025

Inventors: Badrinath Nagarajan (Cupertino, CA); Guiyuan Han (San Jose, CA); Michael Dormody (San Jose, CA)

Assignee: NextNav, LLC

G01C5/06G01C21/206

Abstract

Claims (52)

1 . A method comprising:

determining that an estimated position of a mobile device resides outside a coverage area of a network of reference pressure sensors;

for each reference pressure sensor of the network of reference pressure sensors, determining a reference-level pressure value for a reference-level altitude using a measurement of pressure from that reference pressure sensor and an altitude of that reference pressure sensor;

determining a plurality of wind speeds and corresponding wind directions for a plurality of positions inside the coverage area;

using a time interval, and the plurality of wind speeds and the corresponding wind directions for the plurality of positions inside the coverage area, to determine an adjusted location for each reference pressure sensor of the network of reference pressure sensors;

using the adjusted location and the reference-level pressure value for each reference pressure sensor of the network of reference pressure sensors to determine a pressure pattern;

using the plurality of wind speeds and the corresponding wind directions for the plurality of positions inside the coverage area of the network of reference pressure sensors to determine an average wind speed and a corresponding average wind direction for the coverage area;

using the time interval, and the average wind speed and the corresponding average wind direction for the coverage area, to determine the adjusted location for each reference pressure sensor of the network of reference pressure sensors;

determining an adjusted reference-level pressure value for the estimated position of the mobile device using the pressure pattern; and

calibrating a pressure sensor of the mobile device using the adjusted reference-level pressure value for the estimated position of the mobile device.

2 . The method of claim 1 , wherein the pressure pattern is determined for a region that includes the estimated position.

3 . The method of claim 1 , wherein the pressure pattern is determined for a region that includes an area not included in the coverage area of the network of reference pressure sensors.

4 . The method of claim 1 , further comprising:

decomposing each of the plurality of wind speeds and the corresponding wind directions for the plurality of positions inside the coverage area of the network of reference pressure sensors into an east-west wind speed along an east-west direction and a north-south wind speed along a north-south direction;

using the east-west wind speed and the north-south wind speed for each of the plurality of positions inside the coverage area of the network of reference pressure sensors to determine an east-west component of the average wind speed and a north-south component of the average wind speed for the coverage area; and

decomposing the adjusted location for each reference pressure sensor of the network of reference pressure sensors into an east-west distance computed from the east-west wind speed multiplied by the time interval, and a north-south distance computed from the north-south wind speed multiplied by the time interval.

5 . The method of claim 1 , further comprising determining the time interval based on atmospheric conditions, an underlying flatness of terrain, or an air temperature change with distance near a terrestrial surface.

6 . The method of claim 1 , wherein the determining the adjusted reference-level pressure value for the estimated position of the mobile device using the pressure pattern comprises:

determining a selected reference pressure sensor of the network of reference pressure sensors, wherein the adjusted location of the selected reference pressure sensor is closer to the estimated position than the adjusted location of any other reference pressure sensor of the network of reference pressure sensors; and

using the reference-level pressure value from the selected reference pressure sensor of the network of reference pressure sensors as the adjusted reference-level pressure value for the estimated position of the mobile device.

7 . The method of claim 1 , wherein the determining the adjusted reference-level pressure value for the estimated position of the mobile device using the pressure pattern comprises:

determining a set of selected reference pressure sensors of the network of reference pressure sensors, wherein the adjusted location of each of the reference pressure sensors of the set of selected reference pressure sensors is closer to the estimated position than the adjusted location of any reference pressure sensor of the network of reference pressure sensors that is not in the set of selected reference pressure sensors;

determining an average reference-level pressure value of the set of selected reference pressure sensors; and

using the average reference-level pressure value as the adjusted reference-level pressure value for the estimated position of the mobile device.

8 . One or more non-transitory machine-readable media embodying program instructions that, when executed by one or more machines, cause the one or more machines to implement the method of claim 1 .

9 . A processing system for extending spatial coverage of a reference pressure network, the processing system comprising: a memory comprising computer-executable instructions; and a machine configured to execute the computer-executable instructions and cause the processing system to perform the method of claim 1 .

10 . A method comprising:

determining that an estimated position of a mobile device resides outside a coverage area of a network of reference pressure sensors;

for each reference pressure sensor of the network of reference pressure sensors, determining a reference-level pressure value for a reference-level altitude using a measurement of pressure from that reference pressure sensor and an altitude of that reference pressure sensor;

determining a plurality of wind speeds and corresponding wind directions for a plurality of positions inside the coverage area;

using a time interval, and the plurality of wind speeds and the corresponding wind directions for the plurality of positions inside the coverage area, to determine an adjusted location for each reference pressure sensor of the network of reference pressure sensors;

using the adjusted location and the reference-level pressure value for each reference pressure sensor of the network of reference pressure sensors to determine a pressure pattern;

using the plurality of wind speeds and the corresponding wind directions for the plurality of positions inside the coverage area of the network of reference pressure sensors to determine an average wind speed and a corresponding average wind direction for the coverage area;

using the time interval, and the average wind speed and the corresponding average wind direction for the coverage area, to determine the adjusted location for each reference pressure sensor of the network of reference pressure sensors;

determining an adjusted reference-level pressure value for the estimated position of the mobile device using the pressure pattern; and

estimating an altitude of the mobile device using the adjusted reference-level pressure value for the estimated position of the mobile device, wherein the estimated altitude of the mobile device is used for emergency response or navigation.

11 . The method of claim 10 , wherein the pressure pattern is determined for a region that includes the estimated position.

12 . The method of claim 10 , wherein the pressure pattern is determined for a region that includes an area not included in the coverage area of the network of reference pressure sensors.

13 . The method of claim 10 , further comprising:

decomposing each of the plurality of wind speeds and the corresponding wind directions for the plurality of positions inside the coverage area of the network of reference pressure sensors into an east-west wind speed along an east-west direction and a north-south wind speed along a north-south direction;

using the east-west wind speed and the north-south wind speed for each of the plurality of positions inside the coverage area of the network of reference pressure sensors to determine an east-west component of the average wind speed and a north-south component of the average wind speed for the coverage area; and

decomposing the adjusted location for each reference pressure sensor of the network of reference pressure sensors into an east-west distance computed from the east-west wind speed multiplied by the time interval, and a north-south distance computed from the north-south wind speed multiplied by the time interval.

14 . The method of claim 10 , further comprising determining the time interval based on atmospheric conditions, an underlying flatness of terrain, or an air temperature change with distance near a terrestrial surface.

15 . The method of claim 10 , wherein the determining the adjusted reference-level pressure value for the estimated position of the mobile device using the pressure pattern comprises:

determining a selected reference pressure sensor of the network of reference pressure sensors, wherein the adjusted location of the selected reference pressure sensor is closer to the estimated position than the adjusted location of any other reference pressure sensor of the network of reference pressure sensors; and

using the reference-level pressure value from the selected reference pressure sensor of the network of reference pressure sensors as the adjusted reference-level pressure value for the estimated position of the mobile device.

16 . The method of claim 10 , wherein the determining the adjusted reference-level pressure value for the estimated position of the mobile device using the pressure pattern comprises:

determining a set of selected reference pressure sensors of the network of reference pressure sensors, wherein the adjusted location of each of the reference pressure sensors of the set of selected reference pressure sensors is closer to the estimated position than any adjusted location of a reference pressure sensor of the network of reference pressure sensors that is not in the set of selected reference pressure sensors;

determining an average reference-level pressure value of the set of selected reference pressure sensors; and

using the average reference-level pressure value as the adjusted reference-level pressure value for the estimated position of the mobile device.

17 . One or more non-transitory machine-readable media embodying program instructions that, when executed by one or more machines, cause the one or more machines to implement the method of claim 10 .

18 . A processing system for extending spatial coverage of a reference pressure network, the processing system comprising: a memory comprising computer-executable instructions; and a machine configured to execute the computer-executable instructions and cause the processing system to perform the method of claim 10 .

Assignments (2)

Continuity (5)

References Cited (37)