Indoor Topological Mapping Using GPS-Corrected Vehicle Trajectories
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Solution Overview
Problem
Current methods for generating and updating topological maps of building interiors are imprecise, lack actuality, and are costly and time-consuming, especially in environments where GPS signals are unavailable, such as parking garages.
Innovation Solution
A method using a vehicle's sensors, like acceleration sensors and odometers, to assess characteristic motion and correct trajectories based on GPS data, allowing for automated creation and updating of topological maps without additional sensors, with data transmission to an external server for processing and map generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS data is used to generate topological maps, then road networks outside buildings can be automatically created, but GPS signal is unavailable inside buildings such as parking garages
Solution Approach 1:
The patent introduces an intermediary system consisting of onboard sensors (acceleration sensors, odometers, yaw rate sensors) that mediate between the unavailable GPS signal and the need for position determination. These sensors serve as intermediaries to continue tracking vehicle position and trajectory inside buildings where GPS signals are blocked, by using inertial measurement and wheel rotation data to estimate movement when external satellite signals are absent.
Solution Approach 2:
The system performs preliminary action by recording and storing trajectory data obtained from sensor assessments before the vehicle enters buildings. This preliminary trajectory information is saved and later combined with GPS data obtained after exiting the building, enabling the system to reconstruct complete paths that include GPS-denied zones without requiring real-time positioning throughout the entire journey.
2Ease of manufacture
If topological maps are digitized from orientation plans, then map creation is simplified, but the maps have high degree of imprecision, lack of actuality and scale errors
Solution Approach 1:
The patent implements feedback by using actually traversed vehicle trajectories (collected from sensor data and GPS points) to validate and refine the topological map structure. The system compares the vehicle's actual path through the building with the map representation, providing feedback that enables automatic correction of imprecisions, scale errors, and outdated information, thereby maintaining map actuality and accuracy without manual intervention.
Solution Approach 2:
The system performs self-service by automatically creating and updating topological maps using data collected from vehicle sensors and GPS receivers. Instead of requiring manual digitization from orientation plans or expert intervention, the system autonomously processes trajectory data, identifies navigable paths, and generates accurate map representations through automated algorithms that learn from actual vehicle movement patterns.
3Measurement precision
If manual measurement with laser scanners is used, then precise topological maps can be created, but the process is expensive and time-consuming
Solution Approach 1:
The system performs self-service by automatically collecting, processing, and mapping trajectory data without requiring manual measurement operations. Vehicles autonomously gather position and motion data using onboard sensors, and the system automatically processes this data to generate and update topological maps, eliminating the need for time-consuming manual laser scanning and post-processing while maintaining precision through continuous data collection during normal vehicle operation.
Solution Approach 2:
The patent enables continuity of useful action by collecting mapping data continuously during vehicle operation rather than requiring discrete, time-consuming measurement campaigns. The system accumulates trajectory information whenever vehicles traverse building spaces, allowing maps to be created and updated incrementally over time through ongoing data collection from multiple vehicles, significantly reducing total mapping time compared to manual methods.
4Object-affected harmful factors
If assessment of characteristic motion is used inside buildings, then position can be determined without GPS, but characteristic motion error accumulates over time
Solution Approach 1:
The patent applies feedback by using GPS data obtained after vehicle exit to detect and correct characteristic motion errors that accumulated during the GPS-denied period inside the building. The system compares the sensor-based trajectory estimate with the actual GPS position at the exit point, identifies the accumulated error, and uses this feedback to adjust and correct the trajectory data, thereby removing the drift and inaccuracy that developed during inertial navigation.
Solution Approach 2:
The system substitutes the mechanical inertial navigation system (which accumulates error over time) with a hybrid approach that replaces the pure sensor-based positioning with GPS-corrected positioning. By substituting the error-prone continuous integration of acceleration data with periodic GPS reference points, the system eliminates the accumulation problem while maintaining the ability to operate in GPS-denied zones.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and efficient generation and updating of building maps, including detection of navigable paths, levels, and structural features, with reduced costs and technical requirements, and supports advanced navigation and assistance functions.
Implementation Method 1
an assessment of the trajectory of the at least one vehicle in at least one room of the at least one building is carried out by an assessment of characteristic motion of the at least one vehicle
Implementation Method 2
a characteristic motion error is determined by a comparison with current GPS data
Data Source
AI summary
The present disclosure relates to a data generation method for generating and updating at least one room in at least one building in the surroundings of a vehicle, by at least one vehicle, in which an assessment of characteristic motion is corrected without GPS reception by means of subsequently available GPS data, and used for at least one topological map for at least one room of at least one building.