Learning emergent indoor locations of interest with minimal infrastructure

1. A method for determining a location of a mobile device within a building, the method comprising performing, by the mobile device:

performing ranging between the mobile device and a ranging device to obtain ranging measurements over a period of time, the ranging measurements providing distances to the ranging device;

performing inertial measurements using one or more sensors over the period of time, wherein the inertial measurements include directional measurements of movement of the mobile device;

identifying a plurality of dwell points at which the mobile device is stationary for at least a threshold amount of time, the identifying using the ranging measurements, the inertial measurements, or both, wherein each of the plurality of dwell points corresponds to a distance from the ranging device;

determining a first distance from the ranging device by performing a first ranging measurement with the ranging device, the first distance corresponding to a first dwell point of the plurality of dwell points;

determining a first vector of movement of the mobile device by performing a first inertial measurement, the movement of the mobile device being between the first dwell point and a destination dwell point;

determining a destination distance from the ranging device by performing a second ranging measurement with the ranging device while the mobile device is at the destination dwell point;

matching the destination distance to a second distance of a second dwell point of the plurality of dwell points; and

determining whether the mobile device is at the second dwell point of the plurality of dwell points using the first vector of movement.

2. The method of claim 1 , wherein the first vector of movement is a product of a rate vector and a travel time.

3. The method of claim 1 , wherein a location of the first dwell point is known.

4. The method of claim 1 , wherein the first inertial movement is an average of a plurality of inertial measurements made when the mobile device is moving between dwell points.

5. The method of claim 1 , wherein matching the destination distance to the second distance comprises determining that the destination distance and the second distance are within a threshold distance.

6. The method of claim 1 , wherein the destination distance is matched to one or more distances of one or more other dwell points of the plurality of dwell points.

7. The method of claim 1 , wherein using the first vector of movement comprises:

determining an intersection between the first vector of movement and a destination dwell circle comprising a circle around the ranging device with a radius equal to the destination distance.

8. The method of claim 1 , further comprising:

responsive to a determination that the mobile device is not at the second dwell point, determining whether the mobile device is at a third dwell point of one or more other dwell points using the first vector of movement.

9. A computing device, comprising:

one or more memories storing instructions; and

one or more processors in communication with the one or more memories and configured to execute the instructions stored in the one or more memories to perform operations comprising:

performing ranging between a mobile device and a ranging device to obtain ranging measurements over a period of time, the ranging measurements providing distances to the ranging device;

performing inertial measurements using one or more sensors over the period of time, wherein the inertial measurements include directional measurements of movement of the mobile device;

identifying a plurality of dwell points at which the mobile device is stationary for at least a threshold amount of time, the identifying using the ranging measurements, the inertial measurements, or both, wherein each of the plurality of dwell points corresponds to a distance from the ranging device;

determining a first distance from the ranging device by performing a first ranging measurement with the ranging device, the first distance corresponding to a first dwell point of the plurality of dwell points;

determining a first vector of movement of the mobile device by performing a first inertial measurement, the movement of the mobile device being between the first dwell point and a destination dwell point;

determining a destination distance from the ranging device by performing a second ranging measurement with the ranging device while the mobile device is at the destination dwell point;

matching the destination distance to a second distance of a second dwell point of the plurality of dwell points; and

determining whether the mobile device is at the second dwell point of the plurality of dwell points using the first vector of movement.

10. The device of claim 9 , wherein the first vector of movement is a product of a rate vector and a travel time.

11. The device of claim 9 , wherein a location of the first dwell point is known.

12. The device of claim 9 , wherein the first inertial movement is an average of a plurality of inertial measurements made when the mobile device is moving between dwell points.

13. The device of claim 9 , wherein matching the destination distance to the second distance comprises determining that the destination distance and the second distance are within a threshold distance.

14. The device of claim 9 , wherein the operations further comprise:

responsive to a determination that the mobile device is not at the second dwell point, determining whether the mobile device is at a third dwell point of one or more other dwell points using the first vector of movement.

15. The device of claim 9 , wherein using the first vector of movement comprises:

determining an intersection between the first vector of movement and a destination dwell circle comprising a circle around the ranging device with a radius equal to the destination distance.

16. A non-transitory computer-readable medium storing a plurality of instructions that, when executed by one or more processors of a computing device, cause the one or more processors to perform operations comprising:

performing ranging between a mobile device and a ranging device to obtain ranging measurements over a period of time, the ranging measurements providing distances to the ranging device;

performing inertial measurements using one or more sensors over the period of time, wherein the inertial measurements include directional measurements of movement of the mobile device;

identifying a plurality of dwell points at which the mobile device is stationary for at least a threshold amount of time, the identifying using the ranging measurements, the inertial measurements, or both, wherein each of the plurality of dwell points corresponds to a distance from the ranging device;

determining a first distance from the ranging device by performing a first ranging measurement with the ranging device, the first distance corresponding to a first dwell point of the plurality of dwell points;

determining a first vector of movement of the mobile device by performing a first inertial measurement, the movement of the mobile device being between the first dwell point and a destination dwell point;

determining a destination distance from the ranging device by performing a second ranging measurement with the ranging device while the mobile device is at the destination dwell point;

matching the destination distance to a second distance of a second dwell point of the plurality of dwell points; and

determining whether the mobile device is at the second dwell point of the plurality of dwell points using the first vector of movement.

17. The non-transitory computer-readable medium of claim 16 , wherein the first vector of movement is a product of a rate vector and a travel time.

18. The non-transitory computer-readable medium of claim 16 , wherein a location of the first dwell point is known.

19. The non-transitory computer-readable medium of claim 16 , wherein the first inertial movement is an average of a plurality of inertial measurements made when the mobile device is moving between dwell points.

20. The non-transitory computer-readable medium of claim 16 , wherein matching the destination distance to the second distance comprises determining that the destination distance and the second distance are within a threshold distance.