Geofence with Kalman filter
A least squares geofence method that minimizes trigger misfires caused by data variability and location blunders and minimizes delayed/missed entry triggers generated under urban or indoor conditions. The least squares geofence method uses a weighted least squares (LS) model to compute a location estimate for a target device. A LS location estimate is used to determine if a target device is located inside or outside a predefined geofence. The present invention additionally comprises a Kalman filter geofence method that further improves the accuracy of entry/exit geofence triggers. A Kalman filter geofence method uses a Kalman filter to filter location data retrieved for a target device. Filtered location data is used to determine if a target device is located inside or outside a predefined geofence. A Kalman filter geofence method estimates velocity and heading information for a target device to generate accurate entry/exit geofence triggers for devices in fast moving mode.
1. A method of detecting a geofence crossing, comprising:
a Kalman filter module to filter a plurality of past individual location fixes retrieved for a wireless device and produce a latest Kalman-filtered location of said wireless device;
triggering a geofence boundary crossing by said wireless device based on said latest Kalman-filtered location of said wireless device, on a predictive heading and velocity, and on a given geofence having said boundary; and
dynamically determining a time interval before a subsequent Kalman-filtered location of said wireless device, said time interval being determined based on a velocity of said wireless device.
2. The method of detecting a geofence crossing according to claim 1 , further comprising:
detecting a location blunder of said latest Kalman-filtered location of said wireless device using said latest Kalman-filtered location.
3. The method of detecting a geofence crossing according to claim 1 , further comprising:
dynamically determining an appropriate number of individual location fixes retrieved for said wireless device to produce said subsequent Kalman-filtered location of said wireless device.
4. The method of detecting a geofence crossing according to claim 1 , further comprising:
dynamically selecting an energy efficient method of obtaining a current location of said wireless device based both on said latest Kalman-filtered location, and on said predictive heading and velocity of said wireless device relative to said given geofence.
5. The method of detecting a geofence crossing according to claim 1 , wherein:
said given geofence is moving.
6. The method of detecting a geofence crossing according to claim 1 , further comprising:
reducing a time interval between successive location fixes for said wireless device when said latest Kalman-filtered location is outside said given geofence.
7. The method of detecting a geofence crossing according to claim 1 , further comprising:
creating a trip profile for said wireless device based on historical measurements of said predictive heading and velocity of said wireless device.
8. A method of detecting a geofence crossing, comprising:
a Kalman filter module to filter a plurality of past individual location fixes retrieved for a wireless device and produce a latest Kalman-filtered location of said wireless device;
triggering a geofence boundary crossing by said wireless device based on said latest Kalman-filtered location of said wireless device, on a predictive heading and velocity, and on a given geofence having said boundary; and
dynamically determining an appropriate number of individual location fixes retrieved for said wireless device to produce a subsequent Kalman-filtered location of said wireless device, based on a velocity of said wireless device.
9. The method of detecting a geofence crossing according to claim 8 , further comprising:
detecting a location blunder of said latest Kalman-filtered location of said wireless device using said latest Kalman-filtered location.
10. The method of detecting a geofence crossing according to claim 8 , further comprising:
dynamically selecting an energy efficient method of obtaining a current location of said wireless device based both on said latest Kalman-filtered location, and on a predictive heading and velocity of said wireless device relative to said given geofence.
11. The method of detecting a geofence crossing according to claim 8 , wherein:
said given geofence is moving.
12. The method of detecting a geofence crossing according to claim 8 , further comprising:
reducing a time interval between successive location fixes for said wireless device when said latest Kalman-filtered location is outside said given geofence.
13. The method of detecting a geofence crossing according to claim 8 , further comprising:
creating a trip profile for said wireless device based on historical measurements of said predictive heading and velocity of said wireless device.