201227604 六、發明說明： 【發明所屬之技術領域】 本發明係關於一種用以產生地圖資料之方法，特定而士 係關於一種用以自具有GPS及非GPS感測器之裝置產生室 内地圖資料之方法。 【先前技術】 用以產生地圖之技術已得益於技術進步。特定而十，可 使用圖1之全球定位系統（GPS)及類似系統來為無限數目之 使用者判定連續位置、速度、時間及在某些例項中方向資 訊。以前稱作NAVSTAR，GPS併入有在極精確軌道中沿 轨道繞地球運行之複數個衛星。基於此等精確轨道，Gps 衛星可將其位置中繼至任何數目之接收單元。 當經特別裝備以接收G P S資料之一裝置開始掃描G p s衛 星L號之射頻時，實施該GPS系統。在自一 Gpg衛星接收 一無線電信號後，該裝置經由複數種不同習用方法中之一 種方法來判定彼衛星之精確位置。在多數例項中，該裝置 將繼續掃描信號直至其已獲取至少三個不同衛星信號（注 正常不會但可使用其他三角量測技術僅藉助兩個信號 來判定位置）。實施幾何三角量測後，該接收器利用三個 已知位置以相對於衛星判定其自己的二維位置。此可以一 知方式完成。另外，獲取一第四衛星信號允許該接收裝置 藉由相同幾何計算以一已知方式計算其三維位置。可由無 限數目之使用者在連續基礎上即時更新位置及速度資料。 如圖1中所示，GPS系統1 〇〇包含沿軌道繞地球104運行 153149.doc 201227604 之複數個衛星102。一 GPS接收器106自複數個衛星ι〇2中 之若干個衛星接收展頻譜GPS衛星資料信號1〇8 ^展頻譜 資料信號108係自每一衛星102連續發射的，所發射之展頻 譜資料信號108各自包含一資料串流，包括識別該資料串 流源自其之一特定衛星102之資訊。GpS接收器1〇6通常需 要來自至少二個衛星1 〇2之展頻譜資料信號丨〇8以便能夠計 算二維位置。接收一第四展頻譜資料信號使得Gps接收器 106能夠使用一已知技術來計算三維位置。 GPS系統（例如，圖i中所示之Gps系統）通常用於在收集 室外地圖繪製資料期間以相對於其他常用方法之良好準確 性來判定例如建築物周界，道路、河流等特徵之位置。舉 例而言，配備有基於GPS之位置判定裝備的車輛或人可行 進至特徵並記錄特徵之位置以用於地圖繪製。航空照片亦 允許將一寬範圍之室外地圖繪製資料快速地收集及變換至 地圖申。此外，可在產生經更新地圖繪製資料時使用歷史 地圖繪製資料。 然而，GPS信號可因牆壁、樓層及其他建築物結構而衰 減。因此，建築物中之Gps信號接收通常不足以允許準確 地判定位置。此外，衛星或航空視圖通常不允許判定内部 特徵或佈局。歷史地圖繪製資料可能不涵蓋建築物内部且 建築物及其内部可隨時間改變。 可使用可在室内操作之基於非GPS之位置判定感測器。 然而，此等非GPS感測器通常比使用基於GPS之系統之感 測器準確性低。此外，判定建築物内之特徵及路線之内部 153149.doc 201227604 之區域之接 位置可耗費時間及/或對某些建築物或建築物 近可受到限制》 資料之問 ’本發明解決需要產生準確室内地圖繪製 【發明内容】201227604 VI. Description of the Invention: [Technical Field] The present invention relates to a method for generating map data, and relates to a method for generating indoor map data from a device having a GPS and a non-GPS sensor. method. [Prior Art] The technology used to generate maps has benefited from technological advances. Specifically, the Global Positioning System (GPS) and similar systems of Figure 1 can be used to determine the continuous position, speed, time, and direction information for an unlimited number of users. Formerly known as NAVSTAR, GPS incorporates a number of satellites orbiting the Earth in orbit in extremely precise orbits. Based on these precise orbits, the GPS satellite can relay its position to any number of receiving units. The GPS system is implemented when the device that is specifically equipped to receive the G P S data begins scanning the radio frequency of the GPS satellite. After receiving a radio signal from a Gpg satellite, the device determines the exact location of the satellite via one of a plurality of different conventional methods. In most cases, the device will continue to scan the signal until it has acquired at least three different satellite signals (note that normal will not, but other triangulation techniques can be used to determine position using only two signals). After performing a geometric triangulation, the receiver utilizes three known locations to determine its own two-dimensional position relative to the satellite. This can be done in a known way. Additionally, acquiring a fourth satellite signal allows the receiving device to calculate its three dimensional position in a known manner by the same geometric calculation. The position and speed data can be updated instantly by an unlimited number of users on a continuous basis. As shown in FIG. 1, the GPS system 1 includes a plurality of satellites 102 that operate 153149.doc 201227604 along the orbit around the earth 104. A GPS receiver 106 receives a spread spectrum GPS satellite data signal from a plurality of satellites in a plurality of satellites ι〇2. The spectrum data signal 108 is continuously transmitted from each satellite 102, and the spread spectrum data signal is transmitted. Each 108 includes a stream of data, including information identifying the source of data from one of the particular satellites 102. The GpS receiver 1 通常 6 typically requires a spread spectrum data signal 丨〇 8 from at least two satellites 1 〇 2 to be able to calculate the two-dimensional position. Receiving a fourth spread spectrum data signal enables the Gps receiver 106 to calculate the three dimensional position using a known technique. GPS systems (e.g., the Gps system shown in Figure i) are typically used to determine the location of features such as building perimeters, roads, rivers, etc., with good accuracy relative to other commonly used methods during the collection of outdoor map rendering data. For example, a vehicle or person equipped with a GPS based position determination device can enter the feature and record the location of the feature for mapping. Aerial photographs also allow for the rapid collection and conversion of a wide range of outdoor map data to map applications. In addition, historical maps can be used to plot data when generating updated map data. However, GPS signals can be attenuated by walls, floors, and other building structures. Therefore, GPS signal reception in buildings is often insufficient to allow accurate location determination. In addition, satellite or aerial views typically do not allow for the determination of internal features or layout. Historical mapping data may not cover the interior of the building and the building and its interior may change over time. A non-GPS based position determination sensor that can be operated indoors can be used. However, such non-GPS sensors are generally less accurate than sensors using GPS based systems. In addition, it is determined that the location of the interior of the building and the location of the route 153149.doc 201227604 may take time and/or may be restricted to certain buildings or buildings. Indoor map drawing [invention content]
方法包含： 種用以產生表示一建築 之地圖資料的方法，該 獲取已由複數個行動裝置(200)使用至少一個非Gps導航 感測器（205至220)及至少一個Gps感測器（225)產生之位置 相關資料； 彙總該位置相關資料；及 自該經彙總位置相關資料判定該地圖資料。 較佳地，該位置相關資料係由該等行動裝置之每一者獲 取，該位置相關資料包含使用至少一個非Gps位置感測器 及至少一個GPS位置感測器判定之該行動裝置之複數個位 該地圖資料可包含可導航位置之一指示及/或一内部佈 局及/或一樓層平面圖及/或上下文資料，例如，一房間、 區域或可導航位置之一用途、功能或名稱。 *亥至少一個非Gps感測器及/或該至少一個gps感測器可 包含於該等行動裝置中之至少某些行動裝置且較佳每一行 動裝置中。 該GPS感測器可操作以判定該等行動裝置中之至少某些 153149.doc 201227604 仃動裝置且較佳每—行動裝置之至少—個GPS位置。 該至少-個非⑽感測器可經組態以產生相依於或指示 :至少-個非GPS感測器之-位置、移動、方位、所行進 航：：距離、定向、方向、速度、加速度及/或高度的導 Ί等行動裝置可經組態以自該導航資料判定經估 立置資料。該等行動裝置可經組態以彙總經估計位置資 位Z成經囊總位置資料。該位置相關資料可包含該GPS 導航資料、該經估計位置資料及/或該經棄總 蓋行動裝置可移動至一建築物及/或-封閉及/或覆 測之可導航位置且該方法可包含使用該等非GPS感 貝J器判疋相關聯導航資料。 軌：Γ經估計位置及/或該等經彙總位置可包含於-路線 :至少-個非GPS導航感測器可包含一慣性感測器、一 等盤、-陀螺儀、一加速度計、一氣壓計、一步數器等 可包含使用使用—個或多個非⑽感測器判定之 4相對於-已知位置來判㈣等行動裝置中之至少 ^行動裝置且較佳每-行動裝置的至少-個經估計位 擬二=，該等經估計位置可等同於人工探查點或虛 ^虛假⑽點。該等經估計位置可表示由該行動裝置採 取之一經估計路徑。 該導航資料可包含非地理參數值（其可即時判定）且可表 153J49.doc 201227604 示一室内路徑之經估計座標。 該等經估計位置可係三維位置且可含有或指 值。 可使用GPS位置資料來判㈣已知位置。該方法可包含 使用GPS位置資料（例如’—最近GPS位置）來參考及/或校 準經估計位置資料，此可包含在接收到新㈣位置㈣後The method includes: a method for generating map material representing a building that has been used by a plurality of mobile devices (200) using at least one non-Gps navigation sensor (205 to 220) and at least one GPS sensor (225) The location-related data generated; the location-related data is summarized; and the map data is determined from the aggregated location-related data. Preferably, the location-related data is obtained by each of the mobile devices, the location-related data comprising a plurality of the mobile devices determined using the at least one non-Gps position sensor and the at least one GPS position sensor The map material may include one of a navigable location indication and/or an internal layout and/or a floor plan and/or contextual information, such as one of a room, area or navigable location, use, function or name. At least one non-Gps sensor and/or the at least one gps sensor may be included in at least some of the mobile devices and preferably in each of the mobile devices. The GPS sensor is operative to determine at least one of the GPS locations of at least some of the mobile devices and preferably each of the mobile devices. The at least one non-(10) sensor can be configured to generate dependencies or indications: at least one non-GPS sensor - position, movement, orientation, travel: distance, orientation, direction, speed, acceleration A mobile device such as a height and/or a height guide can be configured to determine the estimated standing data from the navigation data. The mobile devices can be configured to aggregate the estimated location Z into the total capsule location data. The location-related information may include the GPS navigation data, the estimated location information, and/or the removable cover mobile device may be moved to a building and/or a closed and/or overlaid navigable location and the method may Including the use of these non-GPS sensors to determine the associated navigation data. Track: The estimated position and/or the summarized position may be included in the route: at least one non-GPS navigation sensor may include an inertial sensor, a first disk, a gyroscope, an accelerometer, a The barometer, the counter, etc. may comprise using at least one of the mobile devices, preferably the per-action device, using four or more non-(10) sensors to determine (4) relative to the known position. At least one estimated position is two, and the estimated positions may be equivalent to artificial exploration points or virtual (false) points. The estimated locations may represent an estimated path taken by the mobile device. The navigation data may include non-geographic parameter values (which may be determined immediately) and may represent an estimated coordinate of an indoor path as shown in Table 153J49.doc 201227604. The estimated locations may be three dimensional locations and may contain or refer to values. GPS location data can be used to determine (four) known locations. The method can include using GPS location data (e.g., 'the nearest GPS location') to reference and/or calibrate the estimated location data, which can be included after receiving the new (four) location (four)
自動地重新參考或重新校準非Gps位置資料。該最近GPS 位置資料可包含具有高於—預定準確性臨限值之—準確性 的GPS位置資料。 該等行動裝置甲之至少某些行動裝置且較佳每—行動裝 置可包含用於與一飼服器通信之一處理器及/或通信設 備’其可包含無線通信設備。 該方法可係一種操作一地圖資料伺服器的方法。 該方法可包含將位置相關資料自至少„_個行動裝置提供 至-飼服器。該方法可包含使用行動裝置自伺服器掏取地 圖資料。可在遠端⑮服ϋ上執行該m而，將瞭解， 可另外或替代地在行動裝置上執行該方法。舉例而言，儘 管可將由至少-個非GPS感測器判定之導航資料直接發送 至祠服器，但有利之情形可係自導㈣料判心估計位置 資料及/或在將經估計位置資料及/或經彙總位置資料傳達 至伺服器之則在行動裝置上判定經彙總位置資料。以此方 式，舉例而言，來自非GPS感測器之導航資料（例如，方 向、距離、腳步之數目、速度、壓力等等）可在該裝置上 處理，並參考至來自GPS感測器之GPS位置資料，以便自 153149.doc 201227604 從非㈣感測器獲得之導航資料來判定經估計位置 況’可將該等經估計位置而非來自非Gps感測器之導= 料發送至祠服器。m 位置資料與由行動裝 Ί 6卞 收集之其他經估計位置資料蛐 用來形成經彙總位置資蚪.，^ ^ ^ 果〜並 貢枓例如，一經彙總路線軌跡。辞 由在該裝置上將原始感測器資料(例如，腳步之數目心 向）轉換成經估計位置，則可更容易地解決裝置特有問題 (例如，非GPS感測咨把> &上 4列益資枓之格式）及使用者特有問題（例 如，為一使用者提供一平均腳步長度以自由一步數器記錄 之腳步數目判定所行進之距離藉由在裝置上執行以上 處理’可使被發送至祠服器之經彙總資料在資料密度上低 於原始感測器或經估計位置資料及/或可減少所需頻寬。 該方法可包含判；t —行動裝置何時已進人—建築物及/ 或一封閉及/或覆蓋區域且可包含在判定該裝置已進入該 建築物及/或封閉及/或覆蓋區域時自動地啟動至少一個非 GPS感測器。-行動裝置何時已進入一建築物及/或一封閉 及/或覆蓋區域之判定可包含比較該行動裝置之一 Gps位置 及/或一經估計位置與預定地圖資料，例如，指示建築物 輪廓（building footprint)、周界等之地圖資料。一行動裝置 何時已進入一建築物及/或一封閉及/或覆蓋區域之判定可 包含判定GPS感測器何時未偵測到Gps信號及/或由Gps感 測β偵測之一信號不足以允許判定一位置（該信號可係低 於一臨限值）及/或由GPS感測器判定之至少一個位置且視 情況預定數目個位置可以低於一預定臨限值之一準確性來 I53I49.doc 201227604 判定。 該方法可包含比較GPS及/或非GPS位置資料與預定地圖 資料（其可包含建築物輪廓資料）及判定位置資料來自建築 物及/或一封閉及/或覆蓋區域内部還是外部。該方法可勺 含分離表示建築物及/或封閉及/或覆蓋區域内部之資料與 表示建築物及/或一封閉及/或覆蓋區域外部之資料。該方 法可包含與外部資料分離地處理内部資料。該外部資料可 包含GPS資料。該内部資料可包含自非gpS感測器得到之 位置相關資料。 該方法可包含藉由判定由GPS位置資料及/或經估計位置 資料及/或經彙總位置資料指示之一行動裝置之一位置在 何處相交以一建築物輪廓指示之一建築物之一周界及/或 自非GPS感測器判定之經估計位置在何處相交或具有至自 GPS資料判定之GPS位置（例如，一最近Gps位置）之一最近 途徑來判定至一建築物之出口及/或入口。該建築物輪靡 可儲存於—行動裝置之記憶體中及/或可由一行動裝置自 伺服器存取。 < -亥方法可包含自導航資料及’或Gps資料判定該等行動裝 置中之至少某些行動裝置且較佳每一行動裝置之一速度， 舉例而言，在其進入一建築物時。以此方式，可能夠：別 ^輛與行人，此可視情況可用於得到上下文資料。舉例而 言，在一建築物内部之一車輛可指示一停車場。 該方法可包含判定至少-個樓層或建㈣層級或高度。 判定一建築物層級可包含使用—行動裝置之壓力感測器判 153149.doc 201227604 定至少一個壓力量測且基於該所判定壓力來判定一層級或 樓層或高度。判定一建築物層級可包含舉例而言藉由使用 例如電子羅盤或陀螺儀之一方位判定裝置來判定轉彎數 目，例如，90。或180。或更大角轉彎之數目。該轉彎數目 可^ 3 預疋時間週期及/或預定所行進距離内之轉擎數 目0 ”亥等行動裝置中之一者或多者可包含複數個非Gps感測 态。忒方法可包含使用自至少一個非GPS感測器得到之導 航資料來校準至少一個其他非GpS感測器。該方法可包含 使用饤動裝置何時已進入建築物之判定及/或由羅盤判定 轉f數目以便校準—高度感測器，例如—氣壓感測器。 該方法可包含當裝置之一 GPS及/或經估計位置經判定已越 過建築物之—周界或輪㈣使用壓力感測ϋ判定-底樓壓Automatically re-reference or recalibrate non-Gps location data. The most recent GPS location data may contain GPS location data having an accuracy above the predetermined accuracy threshold. At least some of the mobile devices, and preferably each of the mobile devices, may include a processor and/or communication device for communicating with a food server, which may include a wireless communication device. The method can be a method of operating a map data server. The method can include providing location-related data from at least one of the mobile devices to the feeding device. The method can include capturing the map data from the server using the mobile device. The m can be performed on the remote 15 service. It will be appreciated that the method may be additionally or alternatively performed on a mobile device. For example, although navigation data determined by at least one non-GPS sensor may be sent directly to the server, advantageous situations may be self-guided (4) estimating the location data and/or determining the aggregated location data on the mobile device by transmitting the estimated location data and/or the aggregated location data to the server. In this way, for example, from a non-GPS The navigation data of the sensor (eg, direction, distance, number of steps, speed, pressure, etc.) can be processed on the device and referenced to the GPS location data from the GPS sensor, from 153149.doc 201227604 The navigation data obtained by the non-fourth sensor determines that the estimated position condition 'sends the estimated position instead of the non-Gps sensor to the server. m position data and line其他 卞 卞 卞 卞 卞 卞 卞 卞 卞 卞 卞 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他 其他For example, if the number of steps is converted to an estimated position, it is easier to solve device-specific problems (eg, non-GPS sensing protocol) and the user-specific issues. (For example, providing a user with an average step length to determine the distance traveled by the number of steps recorded by the free counter can be performed by performing the above processing on the device to enable the aggregated data to be sent to the server at the data density. Lower than the original sensor or estimated location data and/or may reduce the required bandwidth. The method may include; t—when the mobile device has entered the building—and/or a closed and/or coverage area and At least one non-GPS sensor can be automatically activated upon determining that the device has entered the building and/or the enclosed and/or covered area. - When the mobile device has entered a building and/or a closed and/or covered The determination of the region may include comparing a GPS location of the mobile device and/or an estimated location with predetermined map data, for example, map material indicating a building footprint, perimeter, etc. When a mobile device has entered a building The determination of the object and/or a closed and/or coverage area may include determining when the GPS sensor has not detected the GPS signal and/or detecting one of the signals by the Gps sensing beta is insufficient to allow a position to be determined (the signal may be The method is determined by I53I49.doc 201227604, which is lower than a threshold value and/or at least one position determined by the GPS sensor and optionally a predetermined number of positions may be lower than one of the predetermined thresholds. It includes comparing GPS and/or non-GPS location data with predetermined map data (which may include building profile data) and determining location data from the building and/or a closed and/or covered area inside or outside. The method may include separating data representing buildings and/or enclosed and/or covered areas and materials representing buildings and/or a closed and/or covered area. The method can include processing internal data separately from external data. This external data can contain GPS data. This internal data can contain location-related data from non-gpS sensors. The method can include determining, by the GPS location data and/or the estimated location data and/or the aggregated location data, where one of the mobile devices meets at a location of a building contour to indicate one of the perimeters of the building And/or where the estimated location determined by the non-GPS sensor intersects or has one of the closest to the GPS location (eg, a recent GPS location) to determine the exit to a building and/or Or entrance. The building rim can be stored in the memory of the mobile device and/or can be accessed from the server by a mobile device. < The method can include self-navigation data and ' or GPS data to determine at least some of the mobile devices and preferably one of the speeds of each of the mobile devices, for example, when entering a building. In this way, it can be used to: donate cars and pedestrians, this can be used to get context information. For example, a vehicle inside a building can indicate a parking lot. The method can include determining at least one floor or building (four) level or height. Determining a building level may include using a pressure sensor of the mobile device 153149.doc 201227604 to determine at least one pressure measurement and to determine a level or floor or height based on the determined pressure. Determining a building level may include determining the number of turns, for example, 90, for example by using an orientation determining device such as an electronic compass or gyroscope. Or 180. Or the number of corner turns. The number of turns can be 3 pre-twisted time period and/or the number of revolutions within the predetermined travel distance 0" One or more of the mobile devices may include a plurality of non-Gps sensed states. The method may include using Navigating at least one other non-GpS sensor from navigation data obtained from at least one non-GPS sensor. The method may include determining when the squirting device has entered the building and/or determining the number of f-turns from the compass for calibration - A height sensor, such as a barometric sensor. The method may include using a pressure sensor ϋ to determine when one of the devices GPS and/or the estimated position has been determined to have crossed the perimeter of the building - the bottom floor pressure
Sx行動裝置可經組態以基於—預定時間標度及或所行 進距離中之轉彎數目來判樓層或層級。可自由壓力感 測盗判定之壓力之—改變來職樓層改變之方向（亦即， 向上或向下）’亦即，壓力之一增加可與遞降相關聯而壓 力之一降低可與遞升相關聯。以此方式，可交又參考自羅 盤得到之資料（亦即，自底層之層級或樓層之數目）自 壓力感測器之壓力讀數，以便使壓力讀數或差異與—層 級、樓層或高度相關聯。 判定層級、；έ；麻4_，i ^ β 円度或樓層可包含群集位置資料點（例如， 藉由壓力°貴數來群集位置資料點)及/或基於自從判定穿罟 已進入建築物^之轉f數目對層級之—估計。舉^而 153149.doc 201227604 言，若沿—壓力轴對所有所判定壓力讀數進行排序，則可 觀察到相異壓力讀數帶或群集。此等壓力讀數帶或群集中 之母者可指不一層級或樓層’且可相應地給與每-壓力 讀數相關聯之位置指派— ^層級、冋度、樓層或z方向位 置。 忒方法可包含判定位置相關資料中之至少一個型樣及/ 或與位置相關資料相關 :欠 71糸歹j動作及相應地判定地圖 貝。n統計分析來判定該至卜個型樣及或動作系 規二=由比較時間演進之經估計位置資料與預定型樣或 判定該至少—個型樣及/或動作㈣。舉例而言， 1 ==壓力資料來判定上坡/下坡及樓梯及/或使用定 二5逢：料來識別轉彎。作為另一實例’行動裝置在進 時其行進之速度或來自-步數器或陀螺儀之讀 ::该行動裝置係在—車輛(例如，—汽車或一腳踏 或二儀：行人攜載。舉例而言，可使用由-步數器及/ 次陀螺儀判定之一搖晃量夹p K，丨γ , 員。以士士、搖晃里來£別订人、騎車者及汽車駕駛 方式，舉例而言，一車輛在盆Φλ 4 β 區域可與一傳鱼…“ ㈤在-中進入錢築物之 此隹、如車關聯。在另一實例中，自各種使用者 收集之一建築物之位置資料可 用者扃f 隹甲千期間诸多不同使 某-區域中聚集’此可指示彼位置處 :大量各種使用者在不同時間去往-特定位置之一 各軌跡可“彼位置處之-廁所。 他位置之其他型樣。 了應用心不其 該方法可包含料層級間中轉位置，例如樓梯及/或電 153149.doc 201227604 梯及/或坡道。判定層級間中轉位置可包含判定具有在指 派至樓暦或層級之高度中間之—層級、高度或樓層的位 置其中此等中間樓層或層級位置可指示層級間中轉仇 置-亥方法可包含判定與具有中間高度之位置相關聯之時 間差或時間。該方法可包含判定在具有中間高度之連續位 置之間具有高於與樓梯相關聯之-時間臨限值之-時間差 的彼等位置。該方法可包含判定在具有中間高度之連續位 置之間具有低於與電梯相關聯之一時間臨限值之一時間差 的彼等位置。肖方法可包含判定-位置擴展(例如，一水 平或樓層平面中之位置）及/或所進行之9Q。或更大（例如， 1 80或更大）角轉豐之數目。舉例而f，若與中間高度資 料點相關聯之—水平位置擴展大於-預定量及/或該等高 度資料點與一個或多個9〇。或更大轉彎相關聯或在大於一 預定時間量之-時間週期内擴展開，則此可指示樓梯，而 若該等資料點集中於―小水平區域中（亦即，低於-預定 擴展），則此可指示一電梯。 該方法可包含操取上下文資料，其可包含時間及/或位 置資料。該方法可包含使自行動裝置判定之位置資料與該 上下文資料相關聯。 該上下文資料可包含與使用者相關聯之使用者資料例 如仃事曆或時間表，其可包含時間及/或位置資料，例 如一會4時間及/或房間。該方法可包含交又參考使用非 GPS感心冑料判定之經估計位置及/或時間與使用者資料 中所包3之時間及位置資料’以便識別位置。 153149.doc 201227604 該方法可包含使用對經估計位置資料之統計處理（例 如，型樣匹配）來判定走廊、大廳及房間之位置。 方法可包含提供具有至少一個非经03位置感測器之一 行動裝置、判定且記錄該裝置在一個或多個位置中之位 置。 該方法可包含再現室内地圖。 根據本發明之一第二態樣的係一種用以產生表示一建築 物及/或一封閉及/或覆蓋區域之内部之地圖資料的設備， 其L3 .—處理器（丨54、23〇)，其可操作以獲取已由複數 個仃動裝置(200)使用至少一個非GPS導航感測器(2〇5至 220)及至少一個Gps感測器（225)產生之位置相關資料’該 設備可操作以彙總該位置相關資料；&自該經彙總位置相 關資料判定該地圖資料。 根據本發明之一第三態樣，提供一種電腦程式元件，其 匕3電腦程式碼構件以使—電腦執行上文關於本發明之第 一或第三態樣所論述之方法或實施在本發明之第二或第四 態樣中所論述之設備。 該電腦程式元件可體現於一電腦可讀媒體上。 。根據本發明之一第四態樣的係一種當以第三態樣之電腦 程式產品程式化時之設備。 另-選擇係或另外，亦可提供以下各項中之至少一者 使用不同感測器創建人工探查點，從而允許藉由資料探 處理演算法來收穫且處理室内資料；創建人工探查點與 其等延伸至來自GPS點之軌跡的組合，且稍後使用建築 153149.doc •13· 201227604 輪廟地圖自t外探查點篩選室内探查點（某些室内探查點 可係真實GPS點）’以產生室内探查資料以用於單獨處理. 用自各種源收集之上下文資訊填充室内地圖；帛特 定室内屬性之過程。 ’ 下文陳述實施例之優點，且此等實施例中之每一者之其 他細節及特徵界定於隨附申請專利範圍中且另外在以古' 細說明中。 將瞭解，關於本發明之以上態樣中之任_者所 徵亦可視情況應用於本發明之任一其他態樣。此外亦將 瞭解，類似於任何所闡述設備特徵之方法特徵意欲歸屬於 本發明之範疇内且反之亦然。 ' 【實施方式】 貫穿以下說明，將使用相同參考編號識別相同部件。 如上文所指不，諸多用於收集地圖繪製資料（例如，完 全依賴於基於GPS之系統的彼等地圖繪製資料）之傳統技術 在建築物及封閉空間内部可能無效。 圖2顯示包含可操作以獲得導航資料及/或位置之至少部 分估計之非GPS感測器205、210、215、220的一行動^置 200。舉例而言，行動裝置2〇〇可以配備有或可配備有—個 或多個感測器，例如步數器205、羅盤21〇、壓力感剛器 215(例如，氣壓計）、陀螺儀22〇、傾角計等等。行動裝置 200亦配備有或可配備有一 Gps感測器225，以供在來自 GPS衛星102之充足信號1〇8可用時使用。GPS 225及/或非 GPS 2〇5、210、215、220感測器可視情況構建於行動裝置 153149.doc -14· 201227604 200内或可（舉例而言）作為_改裝裝置之部分或作為一插件 或零件連接至行動裝置·。Gps感測器225及非Gps感測 ° 1〇 215、220可操作地耦合至一處理器230。行 動裝置2〇0進一步包含通信設備加，其包括一發射器166 及接收器168以用於與其他裝置及/或一伺服器15〇通信。 2裝置亦包含—記憶體2伽用於儲存自非GPS感測 盗得到之導航資料或自㈣感測器225得到之Gps位置資 料、自該導般資料得到之經估計位置f料及/或自該經估 計位置資料得到之經彙總料以及為自該導航資料判定該 ”!估汁位置資料所需要之任何資料，例如一平均使用者步 幅長度。合適的行動裝置2_(舉例而言）基於行動通信裝 置例如智慧電話（舉例而言，i ph〇ne(RTM)等等）、可攜 式電腦(例如，膝上型或平板型pc等等）、個人資料助理及 專用導航裝置。 可操作非GPS感測器以收集導航資料，例如經由步數器 如之步數、經由羅盤21〇之—方位或方向、使用壓力感測 器215之一壓力及/或使用陀螺儀22〇之一定向。 如圖3中所示，行動裝置2〇〇能夠在需要時建立與一「行 動」或電信網路之網路硬體之一資料會話。此後，藉由其 網路服務提供商，該行動裝置可建立與—伺服器之一 網路連接（舉例而言，經由網際網路）。因此，可在行動穿 置2〇〇(當其單獨行進及/或在—車輛中行進時可為且通常為 行動的）與忒伺服器之間建立一「行動」網路連接，以提 供用於資訊之一「即時」或至少極「新近」之閘道。 153149.doc •15· 201227604 使用（舉例而言）網際網路在行動裝置200(經由一服務提 供商）與另一裝置（例如，伺服器1 50)之間建立網路連接可 以一已知方式完成。就此而言，可採用任一數目之適當資 料通信協定，舉例而言TCP/IP分層協定。此外，行動裝置 200可利用任一數目之通信標準，例如CDMA2〇〇〇、 GSM、IEEE 802.1 1 a/b/c/g/n等。 舉例而言，裝置200可利用一網際網路連接，其可經由 經由一行動電話或裝置200内的行動電話技術（舉例而言）之 資料連接來達成。 儘管未顯示，但行動裝置2〇〇包括行動裝置2〇〇自身内之 自己的行動電話技術（包括（舉例而言）一天線，或視情況使 用行動裝置200之内部天線）。行動裝置2〇〇内的行動電話 技術可包括内部組件，及/或可包括（舉例而言）配備有必要 之行動電話技術及/或一天線之一可***卡（例如，用戶身 伤模組（SIM)卡）。因此，導航裝置2〇〇内的行動電話技術 可在行動裝置200與伺服器150之間（舉例而言）經由網際網 路以類似於行動裝置技術中已知之方式之一方式來類似地 建立一網路連接。 亦可（舉例而言）當直接經由一 wi-fi或電纜連接或藉由將 裝置（其可包括無線連接）與一中間裝置（例如，具有一網路 連接之個人電腦）連接而將行動裝置2〇〇連接至一網路（例 如’網際網路）時間斷地提供該網路連接。 在某些實施例中，該網路連接並非係直接網路連接。舉 例而5 ’行動裝置2〇〇不需要直接連接至遠端伺服器15〇， 153149.doc 16 201227604 :是可將資料自裝置20。下載至中間裝置中且此後(其可係 稍後時間或曰期且可係在已斷 、’、 φ φ ^ ^ ^開仃動裝置2〇〇之後）該 中間裝置可將該資料轉發至遠端伺服器Μ。。 在圖3中，將行動裝置200綠示為正經由可由若干 配置中之任—者實施之—通用通信頻㈣2與飼服器150通 Ρ通信頻道152-般表示連接行動裝置2⑽與伺服器15〇 之傳播媒介或路徑。當經由通信頻道152在飼服^脑行 動裝置之間建立一連接_服器⑽與行動裝置綱可 通信（注意，此一連接可係自行動裝置2〇〇之一資料連接、 經由網際網路經由個人電腦之一直接連接等等）。 通k頻道152並不限於一特定通信技術。另外，通信頻 道152並不限於單種通信技術。舉例而言’在特定實施例 中，頻道152包括使用各種技術之數個通信鏈路中之一者 或多者。舉例而言，通信頻道152可經調適以提供用於電 子、光學及/或電磁通信等之一路徑。因此，通信頻道152 包括但不限於以下各項之一者或一組合：電路、例如電線 及同軸電纜、光纖電纜等電導體、轉換器、射頻（RF)波、 大氣層、自由空間等。此外，舉例而言，通信頻道152可 包括例如路由器、中繼器、緩衝器、發射器及接收器等中 間裝置。 在一個說明性配置中，通信頻道152包括電話及電腦網 路。此外’通信頻道152在特定實施例中能夠適應無線通 信’舉例而言，紅外通信、射頻通信（例如，微波頻率通 信）等。另外，通信頻道152可適應衛星通信。 153149.doc -17- 201227604 除可能未圖解說明之其他組件外，伺服器150亦包括一 處理器154，其可操作地連接至一記憶體156且進一步可操 作地經由一有線或無線連接158連接至一大容量資料儲存 裝置160。大容量儲存裝置16〇含有導航資料及地圖資訊之 一儲存庫，且亦可係與伺服器15〇分離之一裝置或可併入 至伺服器150中。處理器154進一步可操作地連接至發射器 162及接收器164 ’以經由通信頻道152將資訊發射至行動 裝置200及自其接收資訊。所發送及接收之信號可包括資 料、通信、及/或其他傳播信號。發射器162及接收器164 可根據導航系統200之通信設計中使用之通信需求及通信 技術來選擇或設計》此外’應注意，發射器i 62及接收器 164之功能可組合至一單個收發器中。 如上所述’行動裝置2〇〇可經配置以經由通信頻道152來 與词服器150通信’從而使用發射器166及接收器ι68經由 通信頻道1 52來發送及接收信號及/或資料，注意，此等裝 置可進一步用於與除伺服器150之外的裝置通信。此外， 發射器166及接收器168可根據導航裝置2〇〇之通信設計中 使用之通信需求及通信技術來選擇或設計且發射器i 及 接收器168之功能可組合至一單個收發器中。當然，導航 裝置200包含其他硬體及/或功能部件，下文將更詳細予以 闡述。 用以使用行動裝置200中之一者或多者產生地圖繪製資 料之一過程顯示於圖4中。 本發明利用建築物之内部的經估計位置資料，該經估計 153149.doc -18 · 201227604 位置資料係自由行動裝置200之非Gps感測器2〇5、2i〇、 215、220收集之導航資料得到，&圖4中之步驟所指 示。方便地’可使用一使用者將通常攜載之行動裝置2〇〇 來收集該資料，例如該使用者之行動智慧電話（當其合適 地具備所需GPS及非GPS感測器2〇5至225且 本文中所闡述之操作時卜在—項實施例中，錢通= 道I52將經估計位置資料下載至伺服器15〇以用於處理。然 而’在一替代實施例+，藉自每一行動裝置2〇〇處理使用 非GPS感測器判定之導航資料，以便判定與建築物之内部 相關的經估計位置資料。視情況，然後在行動裝置上 彙總該經估計位置資料與其他經估計位置資料及/或G p §位 置資料。然後可經由通信頻道152將該經彙總位置資料傳 達至伺服器150且進一步與由其他行動裝置2〇〇收集且供應 之經彙總及經估計位置資料彙總。藉由由一自訂程式或應 用程式（aPP)實施之一裝置控制器來控制行動裝置2〇上之所 需功能性。伺服器150則經組態以處理自複數個行動裝置 200接收之經估計位置資料且處理此以便判定地圖繪製資 料。 圖5圖解說明具有一入口 5〇5之一建築物5〇〇。儘管參职 -建築物來圖解說明本實例，但將瞭解，該方法同等㈣ 用於任-封閉區域或通常適用於缺乏Gps覆蓋或具有不足 以可靠地判定一 GPS位置之GPS覆蓋的區域。 當使用者在-建築物之外部時，判定該建築物内的使用 者位置之過程開始。在此時，使用者之行動裝置2〇〇可操 153149.doc 201227604 作以使用GPS感測器225使用此項技術中已知之技術來判 疋其位置》已知地圖資料（例如，衔道平面圖及建築物輪 廓’例如圖6中所示之彼等）可儲存於行動裝置之一記憶體 240中及/或可使用通信頻道152自伺服器15〇上之一記憶體 156或資料儲存庫160存取。可比較由Gps系統225判定之 使用者之位置與已知地圖資料，以判定使用者何時正在靠 近一建築物或封閉區域 行動裝置200可操作以自動判定—使用者何時已進入該 建築物或封閉空間。舉例而言，行動裝置2〇〇在某些實施 例中可操作以判定一GPS信號何時落在某一臨限值之外及/ 或比較由GPS感測器225判定之使用者之位置與已知地圖 資料中所含有之建築物500之周界的位置，且相應地判定 使用者已進入建築物500。當判定使用者正在進入、已進 入或將要進入建築物500時，裝置控制器自動地啟動行動 裝置200之非GPS感測器205至220，例如一步數器2〇5、氣 壓計215、羅盤210及/或一陀螺儀220。此時可使用自Qps 感測器225獲得自位置資料來提供一參考位置，可自該參 考位置判定該建築物内之經估計位置。可使用來自非Gps 感測器205至22〇之導航資料來相對於該Gps參考位置判定 經估計位置，其可結合預儲存之校準資料（例如，供用於 步數器之平均使用者步幅長度）使用，其可預儲存於行動 裝置200之記憶體240中或經由通信頻道152預儲存於伺服 器150之記憶體156或資料儲存庫16〇中。 舉例而言，可使用一步數器來判定表示一使用者所邁出 153149.doc -20- 201227604 之腳步數目的導航資料且將其乘以該使用者之一平均腳步 長度以便估計所行進之一距離。可使用一壓力感測器（例 如’一氣壓計）以便判定表示壓力資料之導航資料，其可 用於估計一高度或層級。一電子羅盤等可操作以判定一駛 向或方位形式之導航資料。若該行動裝置在一車輛中，則 其能夠存取該車輛上之可操作以判定導航資料（例如，所 行進之距離及速度）之感測器。藉由使用來自此等非GPS感 測ι§中之一者或多者之導航資料，將瞭解，使用GPS感測 器225判定之相對於該參考位置之一經估計位置係在某些 操作模式中判定。 可使用GPS感測器225來重新校準及/或更新經估計位 置。舉例而言，若一使用者走近一窗戶或門，則行動裝置 200可自GPS衛星系統1〇2拾取足以使用基於Gps之感測器 判疋-位置之信號。在此情形中，行動裝置可操作以使用 準確的GPS得到位置來更新使用基於非⑽之感測器判定 之、，乂估°十位置，亦即，總是可自自GPS感測器225得到之 最近的充分準叙位置讀數得到該等經估計位置。 視情況，該行動裝置可操作以自使用GPS判定之位置 選經估計位置’如圖4之步驟410中所指示。以此方式， 單獨地處理該等經估計位置，乃因此等經估計位置可能 如使用GPS感測器媒值+ v ^ 』盗獲得之位置準確且經受彙總形式之 以便獲得到達一所堂淮ε* 汴冶丰確性之可用經估計位置資料。在 替代或另外實施例中，左口 7在何服窃15 0上執行此種自〇 得到資料篩選經估今+朽$ °置。可使用表示建築物輪廓之已 153149.doc -21 - 201227604 地圖（舉例而言，2d、2.5d或3d地圖）來執行該篩選，其中 以與彼等獲得之室外不同之方式來處理位置判定之室内。 另一選擇係，可基於資料之特性或識別符來區分Gps及非 GPS資料及自該資料獲得之位置。該筛選可提供改良之資 料處理效率。 使用建築物之内部之經估計位置f料之—重要且困難之 態樣係判；t導航資料/經估計位置與—建築物之哪一樓層 或層級相關。除非按樓層或層料行對經料位置資料之 /刀離，否則㈣合每—樓層之經彙總路線軌跡資料，此可 導致誤導且不準確之地圖資料。 涵蓋用於判定與每一經估計位置點相關聯之一樓層、層 級、高度或z方向之各種技術。舉例而言，可使用行動裝 置之麼力感測器來判定一位置處之壓力，其通常相依於高 度。然而’盛行氣麼可變化。使所判定壓力資料與樓層或 層級相關聯之-種方式係藉由在—壓力（z)軸上配置^群 集壓力（或高度或z方向）讀數，如圖8中所示。可自此看 到，形成優先共同或類似壓力帶。此等帶可指示樓層或層 級。具有在帶之間的一壓力之位置可指示樓梯、電梯、樓 層間坡道等等。 判定層級之S種技術係藉由使用其他非感測器 2〇5、21〇、22〇，其視情況可用於交又參考壓力感測器 225，以便將層級或樓層指派至壓力資料。 舉例而言’若包含配備有—Gps感測器⑵、—氣壓計 215及一羅盤21〇或陀螺儀之一行動裝置2〇〇之一車輛被駕 153149.doc -22- 201227604 驶至一辦公大樓之一地下停車場’則行動裝置2〇〇之Gps 感測器記錄該車輛之位置，直至其到達該停車場之入口 此時’藉由向現有街道平面圖及/或建築物輪廟資料參考 GPS位置資料，行動裝置200能夠判定其正在進入一建築 物500或封閉空間，因此啟動非GPS感測器，亦即，啟動 氣壓計215及羅盤210。車輛進入該建築物之一樓層咬層級 可與一底層相關聯且此時可使用氣壓計215來判定兮底層 之一相關聯壓力。可使用羅盤210來判定行動裝置2〇〇(且 因而該車輛）之駛向。若羅盤210判定行動裝置2〇〇/車輛在 一預定所行進距離内已進行一緊急90。或更大（例如，18〇。 或更大）轉彎且此90。或180。轉彎與由氣壓計215判定之一壓 力改變相關聯，則此可指示車輛使用一上坡或下坡。可藉 由壓力讀數是否增加或減小來判定坡道之方向，亦即上坡 或下坡。藉由此技術，可判定行動裝置2〇〇已上到一個樓 層或自一個樓層下去且可使所量測壓力與彼樓層或層級相 關聯。舉例而言，可判定一汽車是否已停放於+2、+1、 -2或任一其他層級處’其中氣壓計資訊用來判定該汽車上 到層級上還是自層級下去’且來自陀螺儀或羅盤之相關聯 轉彎資訊用來判定層級之編號。 作為一替代實例，具有配備有一 GPS位置感測器225、 羅盤210、氣壓計215及步數器2〇5之一智慧電話2〇〇的一個 人自建築物500之外部進入建築物500。如在先前實例中， 行動裝置200可操作以判定何時已跨越建築物5〇〇之周界且 啟動非GPS感測器205至220。基於最後已知GPS位置作為 153149.doc -23- 201227604 一開始點’可使用步數器205及羅盤210來判定相對於最後 已知GPS位置之樓層或水平平面中之行動裝置2〇〇之位置 (亦即’ X及y)。來自非GPS感測器205至220之資料可用於 判定行動裝置200之速度之一突然變慢後跟由羅盤21〇偵測 且與由氣壓計21 5判定之壓力之一改變相關聯的一系列急 劇180。轉彎。此情形可指示樓梯且因此一樓層或層級可由 所進行之若干個轉彎判定且用於校準壓力資料。另一方 面，若在一個位置周圍找到一位置點雲（舉例而言，來自 諸多不同裝置）且對後續移動之追蹤及相關聯氣壓計資料 指示至另一樓層之快速移動（舉例而言，不存在相關聯水 平移動），則其可指示存在一電梯。樓梯相對而言可具有 與其相關聯之-較不密集之點雲，i對後續移動之追縱及 氣壓計資料可指示至另一樓層之較慢移動。 一旦已識別樓層或層，級，則可藉由按樓層或層級分離經The Sx mobile device can be configured to determine the floor or hierarchy based on a predetermined time scale and the number of turns in the travel distance. The pressure of the free pressure sensing thief determination - changing the direction of the incoming floor change (ie, up or down) 'that is, one of the pressure increases can be associated with the decline and one of the pressure drops can be associated with the step-up . In this way, the pressure readings from the pressure sensor can be referenced with reference to the data obtained from the compass (ie, the number of levels or floors from the bottom layer) to correlate the pressure readings or differences with the level, floor or height. . Determining the level, έ; hemp 4_, i ^ β 円 degree or floor may contain cluster location data points (for example, clustering location data points by pressure °) and/or based on self-determination of penetration into the building ^ The number of turns f is estimated for the hierarchy. ^ 153149.doc 201227604 words, if all the determined pressure readings are sorted along the pressure axis, a distinct pressure reading band or cluster can be observed. Such pressure reading strips or mothers in the cluster may refer to no level or floor' and may be assigned a position associated with each pressure reading - level, twist, floor or z-direction position. The method may include determining at least one of the location-related materials and/or relating to the location-related data: an undershoot of 71糸歹j and a corresponding determination of the map. n Statistical analysis to determine the pattern and/or the action rule 2 = the estimated position data evolved from the comparison time and the predetermined pattern or the at least one pattern and/or action (4). For example, 1 == pressure data to determine the uphill / downhill and stairs and / or use the standard to identify the turn. As another example, the speed at which the mobile device travels or the reading from the stepper or the gyroscope: the mobile device is attached to the vehicle (for example, a car or a pedal or a second instrument: pedestrian carrying For example, you can use the one-step number and / or the second gyroscope to determine one of the shaking clamps p K, 丨 γ, the staff. Take the gentleman, shake the bill, and the rider and the car driving method. For example, a vehicle in the basin Φλ 4 β area can be associated with a fish that is “in the middle of the house”. In the other example, one of the buildings is collected from various users. The position of the object is available to the user. 扃f 隹 千 期间 期间 诸多 使 使 聚集 聚集 聚集 聚集 聚集 ' 聚集 聚集 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此 此- Toilet. Other types of his position. The application method can include intermediate transfer positions, such as stairs and / or electric 153149.doc 201227604 ladder and / or ramp. Determine the inter-level transfer position The inclusion decision has the height assigned to the building or hierarchy a hierarchy, a height, or a location of a floor wherein the intermediate floor or hierarchy location may indicate that the inter-level transitive-hai method may include determining a time difference or time associated with a location having an intermediate height. The method may include determining A position having a mid-height continuous position having a time difference greater than a time threshold associated with the stair. The method can include determining that there is a lower than associated with the elevator between successive positions having intermediate heights One of the time thresholds is one of the time differences of the position. The chord method may include a decision-position extension (eg, a position in a horizontal or floor plane) and/or 9Q performed or greater (eg, 1 80) Or greater) the number of angular turns. For example, f, if associated with an intermediate height data point - the horizontal position spread is greater than - a predetermined amount and / or the height data points are one or more 9 〇 or greater The turn is associated or extended over a period of time greater than a predetermined amount of time, which may indicate a stairway, and if the data points are concentrated in a "small horizontal area" (ie, below-predetermined Expanding), this may indicate an elevator. The method may include fetching contextual information, which may include time and/or location data. The method may include associating location data determined by the mobile device from the contextual material. The data may include user data associated with the user, such as a calendar or schedule, which may include time and/or location information, such as a time of 4 and/or a room. The method may include referencing using non-GPS. The location and/or time of the estimated location and/or time of the ambiguous determination is determined in order to identify the location. 153149.doc 201227604 The method may include the use of statistical processing of the estimated location data (eg, The pattern is matched to determine the location of the hallway, the hall, and the room. The method can include providing a mobile device having at least one non-zero position sensor, determining and recording the device in one or more locations. The method can include rendering an indoor map. According to a second aspect of the present invention, an apparatus for generating map data representing a building and/or a closed and/or covered area, the L3.-processor (丨54, 23〇) Operable to obtain position-related data generated by at least one non-GPS navigation sensor (2〇5 to 220) and at least one Gps sensor (225) by a plurality of tilting devices (200) Operable to summarize the location related material; & to determine the map material from the aggregated location related data. According to a third aspect of the present invention, there is provided a computer program component, or a computer program component, for causing a computer to perform the method discussed above in relation to the first or third aspect of the invention or to implement the invention The device discussed in the second or fourth aspect. The computer program component can be embodied on a computer readable medium. . According to a fourth aspect of the present invention, a device is embodied in a computer program product in a third aspect. Alternatively-selecting or additionally, at least one of the following may be provided to create a manual probe point using different sensors, thereby allowing the data processing algorithm to harvest and process the indoor data; creating artificial probe points and the like Extend to the combination of trajectories from GPS points, and later use the building 153149.doc •13· 201227604 round temple map to screen indoor exploration points from t-external exploration points (some indoor exploration points can be real GPS points) to generate indoor Exploring the data for separate processing. Filling the indoor map with contextual information collected from various sources; the process of identifying specific indoor properties. The advantages of the embodiments are set forth below, and other details and features of each of these embodiments are defined in the scope of the accompanying claims and in the detailed description. It will be appreciated that any of the above aspects of the invention may be applied to any other aspect of the invention as appropriate. It will also be appreciated that method features similar to any of the described device features are intended to fall within the scope of the invention and vice versa. [Embodiment] Throughout the following description, the same components will be identified using the same reference numerals. As noted above, many of the traditional techniques used to collect mapping data (for example, their mapping data that relies entirely on GPS-based systems) may not be effective in buildings and enclosed spaces. 2 shows a mobile device 200 that includes non-GPS sensors 205, 210, 215, 220 that are operable to obtain at least a portion of the navigation data and/or location estimates. For example, the mobile device 2 can be equipped with or can be equipped with one or more sensors, such as a step 205, a compass 21, a pressure sensor 215 (eg, a barometer), a gyroscope 22 〇, inclinometer, etc. The mobile device 200 is also equipped or can be equipped with a Gps sensor 225 for use when sufficient signal 1 〇 8 from the GPS satellite 102 is available. The GPS 225 and/or non-GPS 2〇5, 210, 215, 220 sensors may be built into the mobile device 153149.doc -14· 201227604 200 or may, for example, be part of the _ retrofit device or as a The plug-in or part is connected to the mobile device. Gps sensor 225 and non-Gps sensing ° 1 215, 220 are operatively coupled to a processor 230. The mobile device 2 〇 0 further includes a communication device plus, which includes a transmitter 166 and a receiver 168 for communicating with other devices and/or a server 15 . 2 device also includes - memory 2 gamma for storing navigation data obtained from non-GPS sensing stolen or Gps location data obtained from (4) sensor 225, estimated position obtained from the general information and/or The aggregated material obtained from the estimated location data and any data required to determine the "suggested location data from the navigational data, such as an average user stride length. Suitable mobile devices 2_ (for example) are based on Mobile communication devices such as smart phones (for example, i ph〇ne (RTM), etc.), portable computers (eg, laptop or tablet PCs, etc.), personal data assistants, and dedicated navigation devices. A non-GPS sensor collects navigational information, such as via a stepper, via a compass 21, azimuth or direction, using one of the pressure sensors 215, and/or using one of the gyroscopes 22 As shown in FIG. 3, the mobile device 2 can establish a data session with one of the "action" or telecommunication network network hardware when needed. Thereafter, with its network service provider, the mobile device can establish a network connection with one of the servers (for example, via the Internet). Thus, an "action" network connection can be established between the action wearer 2 (which can be and usually acts when traveling alone and/or while traveling in the vehicle) to provide a "action" network connection with the server. One of the information is "instant" or at least a "new" gateway. 153149.doc • 15· 201227604 Using, for example, the Internet to establish a network connection between mobile device 200 (via a service provider) and another device (eg, server 150) can be known in a known manner carry out. In this regard, any number of appropriate data communication protocols may be employed, such as a TCP/IP layered agreement. In addition, mobile device 200 can utilize any number of communication standards, such as CDMA2, GSM, IEEE 802.1 1 a/b/c/g/n, and the like. For example, device 200 can utilize an internet connection that can be accomplished via a data connection via a mobile phone or mobile phone technology, for example, within device 200. Although not shown, the mobile device 2 includes its own mobile phone technology within the mobile device 2 (including, for example, an antenna, or an internal antenna of the mobile device 200 as appropriate). The mobile phone technology within the mobile device 2 can include internal components, and/or can include, for example, the necessary mobile phone technology and/or one of the antennas that can be inserted into the card (eg, a user injury module) (SIM) card). Thus, the mobile phone technology within the navigation device 2 can be similarly established between the mobile device 200 and the server 150, for example, via the Internet in a manner similar to that known in the mobile device technology. Internet connection. It is also possible, for example, to connect the mobile device directly via a wi-fi or cable connection or by connecting the device (which may include a wireless connection) to an intermediary device (eg, a personal computer with a network connection). 2. Connect to a network (such as the 'Internet) to provide this network connection. In some embodiments, the network connection is not a direct network connection. For example, the 5' mobile device 2 does not need to be directly connected to the remote server 15A, 153149.doc 16 201227604: The data can be self-contained 20. Download to the intermediate device and thereafter (which may be later or in a period of time and may be after the break, ', φ φ ^ ^ ^ open the device 2〇〇) the intermediate device can forward the data to the far End server. . In FIG. 3, the mobile device 200 is shown as being positively implemented by any of a number of configurations - the universal communication frequency (four) 2 and the feeder 150 communication channel 152 generally indicate the connection of the mobile device 2 (10) and the server 15 The medium or path of communication. When a connection device (10) is established between the feeding device via the communication channel 152, the mobile device can communicate with the mobile device (note that the connection can be from one of the mobile devices, via the Internet) Connect directly via one of your PCs, etc.). The k-channel 152 is not limited to a particular communication technology. Additionally, communication channel 152 is not limited to a single communication technology. By way of example, in a particular embodiment, channel 152 includes one or more of a number of communication links using various techniques. For example, communication channel 152 can be adapted to provide one path for electronic, optical, and/or electromagnetic communication, and the like. Thus, communication channel 152 includes, but is not limited to, one or a combination of the following: circuits, electrical conductors such as wires and coaxial cables, fiber optic cables, converters, radio frequency (RF) waves, atmosphere, free space, and the like. Moreover, for example, communication channel 152 can include intermediate devices such as routers, repeaters, buffers, transmitters, and receivers. In one illustrative configuration, communication channel 152 includes a telephone and computer network. Further, 'communication channel 152 is capable of accommodating wireless communication in a particular embodiment', for example, infrared communication, radio frequency communication (e.g., microwave frequency communication), and the like. Additionally, communication channel 152 can accommodate satellite communications. 153149.doc -17- 201227604 In addition to other components that may not be illustrated, server 150 also includes a processor 154 operatively coupled to a memory 156 and further operatively coupled via a wired or wireless connection 158. To a large capacity data storage device 160. The mass storage device 16 includes a repository of navigation data and map information, and may also be separate from the server 15 or may be incorporated into the server 150. The processor 154 is further operatively coupled to the transmitter 162 and the receiver 164' to transmit information to and receive information from the mobile device 200 via the communication channel 152. The signals transmitted and received may include data, communications, and/or other propagating signals. The transmitter 162 and the receiver 164 can be selected or designed according to the communication requirements and communication techniques used in the communication design of the navigation system 200. Further, it should be noted that the functions of the transmitter i 62 and the receiver 164 can be combined into a single transceiver. in. As described above, 'the mobile device 2' can be configured to communicate with the word processor 150 via the communication channel 152' to transmit and receive signals and/or data via the communication channel 152 using the transmitter 166 and the receiver ι 68, These devices may be further used to communicate with devices other than server 150. In addition, transmitter 166 and receiver 168 can be selected or designed according to the communication requirements and communication techniques used in the communication design of navigation device 2 and the functions of transmitter i and receiver 168 can be combined into a single transceiver. Of course, the navigation device 200 includes other hardware and/or functional components, as will be explained in more detail below. The process for generating map drawing data using one or more of the mobile devices 200 is shown in FIG. The present invention utilizes estimated location data within the building, the estimated 153149.doc -18 · 201227604 location data is navigation data collected by non-Gps sensors 2〇5, 2i〇, 215, 220 of the free mobile device 200 Get, & indicated by the steps in Figure 4. Conveniently, a user can use a mobile device that is usually carried to collect the data, such as the user's mobile smart phone (when it is properly equipped with the required GPS and non-GPS sensors 2〇5 to 225 and the operations described herein are in the embodiment, Qiantong = track I52 downloads the estimated location data to the server 15 for processing. However, in an alternative embodiment +, borrowed from each A mobile device 2 processes navigation data determined using a non-GPS sensor to determine estimated location data associated with the interior of the building, and then aggregates the estimated location data and other estimates on the mobile device as appropriate Location data and/or Gp § location data. The aggregated location data can then be communicated to server 150 via communication channel 152 and further aggregated with aggregated and estimated location data collected and supplied by other mobile devices 2 The desired functionality on the mobile device 2 is controlled by a device controller implemented by a custom program or application (aPP). The server 150 is configured to process a plurality of lines. The estimated location data received by the mobile device 200 and processed to determine the map drawing data. Figure 5 illustrates a building 5 having an entrance 5〇5. Although the example-buildings illustrate the example, It is understood that the method is equivalent (4) for any-enclosed area or generally suitable for areas lacking GPS coverage or having insufficient GPS coverage to reliably determine a GPS location. When the user is outside the building, the building is determined The process of the user's location begins. At this point, the user's mobile device 2 can operate 153149.doc 201227604 to use the GPS sensor 225 to determine its location using techniques known in the art. The map information (eg, the track plan and the building outlines, such as those shown in FIG. 6) may be stored in one of the mobile devices 240 and/or may be accessed from the server 15 using the communication channel 152. A memory 156 or data repository 160 is accessed. The location of the user determined by the GPS system 225 and the known map data can be compared to determine when the user is approaching a building or enclosed area. The mobile device 200 is operable to automatically determine when the user has entered the building or enclosed space. For example, the mobile device 2, in some embodiments, is operable to determine when a GPS signal falls within a certain threshold The value is outside and/or the position of the user determined by the GPS sensor 225 is compared to the location of the perimeter of the building 500 contained in the known map material, and accordingly the user has been determined to have entered the building 500. When it is determined that the user is entering, has entered or is about to enter the building 500, the device controller automatically activates the non-GPS sensors 205 to 220 of the mobile device 200, such as the step counter 2〇5, the barometer 215, the compass 210, and / or a gyroscope 220. At this point, the self-position data can be obtained from the Qps sensor 225 to provide a reference position from which the estimated position within the building can be determined. The navigation data from the non-Gps sensors 205 to 22 can be used to determine the estimated position relative to the GPS reference position, which can be combined with pre-stored calibration data (eg, the average user step length for the pedometer) For use, it may be pre-stored in the memory 240 of the mobile device 200 or pre-stored in the memory 156 or the data repository 16 of the server 150 via the communication channel 152. For example, a one-step counter can be used to determine navigation data representing the number of steps taken by a user 153149.doc -20-201227604 and multiply it by one of the user's average step lengths to estimate one of the travels distance. A pressure sensor (e. g., ' a barometer) can be used to determine navigational data indicative of pressure data that can be used to estimate a height or level. An electronic compass or the like is operable to determine navigational information in the form of a heading or orientation. If the mobile device is in a vehicle, it can access sensors on the vehicle that are operable to determine navigational material (e.g., distance and speed traveled). By using navigation data from one or more of such non-GPS sensing devices, it will be appreciated that the estimated position relative to one of the reference positions determined using GPS sensor 225 is in some modes of operation. determination. GPS sensor 225 can be used to recalibrate and/or update the estimated position. For example, if a user approaches a window or door, the mobile device 200 can pick up a signal from the GPS satellite system 1〇2 that is sufficient to use the Gps-based sensor to determine the position. In this case, the mobile device is operable to use the accurate GPS to obtain the location to update the use of the non-(10) based sensor to determine the ten position, that is, always available from the GPS sensor 225. The most recent fully accurate position readings are obtained for the estimated positions. Optionally, the mobile device is operable to select the estimated position from the location determined using the GPS' as indicated in step 410 of FIG. In this way, the estimated positions are processed separately, so that the estimated position may be as accurate as the position obtained using the GPS sensor media value + v ^ </ br> and is subjected to a summary form in order to obtain a tangible ε * Estimated location data available for smelting. In an alternative or alternative embodiment, the left port 7 performs such self-sufficiency on the smuggling 15 0. The screening may be performed using a map of 153149.doc -21 - 201227604 (for example, a 2d, 2.5d or 3d map) representing the outline of the building, wherein the location determination is handled in a manner different from the outdoor obtained by them. indoor. Another option is to distinguish between Gps and non-GPS data and the location from which the data was obtained based on the characteristics or identifier of the data. This screening provides improved data processing efficiency. The use of the estimated position of the interior of the building—an important and difficult aspect of the system; t navigation data/estimated location is related to which floor or level of the building. Unless the floor or layer line is used to separate the material from the material location, (4) the summary route trajectory data for each floor may cause misleading and inaccurate map data. Various techniques for determining one of the floor, level, height or z-direction associated with each estimated location point are covered. For example, a force sensor of a mobile device can be used to determine the pressure at a location, which is typically dependent on altitude. However, 'the prevailing temperament can change. The way in which the determined pressure data is associated with the floor or level is by placing a group pressure (or height or z-direction) reading on the -pressure (z) axis, as shown in Figure 8. It can be seen from this that a priority common or similar pressure zone is formed. These bands indicate the floor or level. Having a position of pressure between the belts can indicate stairs, elevators, ramps between floors, and the like. The S techniques of the decision hierarchy are used by reference to the pressure sensor 225 by using other non-sensors 2〇5, 21〇, 22〇, as appropriate, to assign levels or floors to the pressure data. For example, if you include a vehicle equipped with a -Gps sensor (2), a barometer 215 and a compass 21 or a gyroscope, one of the vehicles is driven to 153149.doc -22- 201227604 One of the building's underground car parks' mobile device 2's Gps sensor records the location of the vehicle until it reaches the entrance to the car park at this time' by reference to the existing street plan and/or building wheel temple data reference GPS location Data, the mobile device 200 can determine that it is entering a building 500 or enclosed space, thus activating a non-GPS sensor, i.e., a barometer 215 and a compass 210. The vehicle enters one of the floor level levels of the building and can be associated with an underlying layer and at this point a barometer 215 can be used to determine one of the associated pressures of the bottom layer. The compass 210 can be used to determine the direction of travel of the mobile device 2 (and thus the vehicle). If the compass 210 determines that the mobile device 2/vehicle has performed an emergency 90 within a predetermined travel distance. Or larger (for example, 18 〇. or larger) and turn this 90. Or 180. The turn is associated with a change in pressure determined by barometer 215, which may instruct the vehicle to use an uphill or downhill slope. The direction of the ramp can be determined by whether the pressure reading is increased or decreased, that is, uphill or downhill. By this technique, it can be determined that the mobile device 2 has been moved up to or from a floor and the measured pressure can be associated with the floor or hierarchy. For example, it can be determined whether a car has been parked at +2, +1, -2, or any other level 'where barometer information is used to determine whether the car is on the level or from the level' and is from a gyroscope or The associated turn information of the compass is used to determine the number of the level. As an alternative, a person having a smart phone 2〇〇 equipped with a GPS position sensor 225, a compass 210, a barometer 215, and a pedometer 2〇5 enters the building 500 from the exterior of the building 500. As in the previous example, the mobile device 200 is operable to determine when the perimeter of the building has been crossed and the non-GPS sensors 205-220 are activated. Based on the last known GPS position as 153149.doc -23- 201227604 starting point 'step 205 and compass 210 can be used to determine the position of the mobile device 2 in the floor or horizontal plane relative to the last known GPS position (ie 'X and y'). The data from the non-GPS sensors 205 through 220 can be used to determine that one of the speeds of the mobile device 200 suddenly slows down followed by a series of changes detected by the compass 21 and associated with one of the pressures determined by the barometer 215. A sharp 180. Turning. This situation may indicate a stair and thus a floor or level may be determined by a number of turns made and used to calibrate the pressure data. On the other hand, if a location point cloud is found around a location (for example, from a number of different devices) and tracking of subsequent movements and associated barometer data indicates rapid movement to another floor (for example, no There is an associated horizontal movement), which may indicate the presence of an elevator. The stairway may have a relatively less dense point cloud associated with it, i tracking the subsequent movements and barometer data may indicate slower movement to another floor. Once the floor or floor, level has been identified, the separation can be separated by floor or level
200之經彙總路線執跡705傳達 举例而言）將來自行動裝置 至伺服器1 5 0，因此其可進 153149.doc •24- 201227604 一步與已由其他行動裝置200判定及供應之特定建築物之 路線軌跡或經彙總路線軌跡7〇5彙總。舉例而言，該伺服 器可係使用者團體J (例如，TomTom地圖分享（rtm)) 之口h其中諸多仃動襄置2〇〇提供經估計位置資料（在此 情形中呈由其收集之經彙總位置資料之形式)且又受益於 由使用者之行動裝置200及其他行動裝置2〇〇兩者產生之所 得地圖資料。此方法亦節省需要一製圖師來訪問每一建築 物或封閉區域之成本及怒六。lLaL .. 风不及努力。此外，此系統可操作以獲得 接近其可成問題之建築物之地圖繪製f料。經進—步棄總 資料對使用者特有路線（例如對—使用者之桌子）之資料= 失真較不敏感’乃因路線轨跡係自屬於錢使 行動裝置獲得。藉由分離GPS與非Gps得到位置資料及/或 分離内部與外部位置㈣’可藉由避免對相對準確之⑽ 資料之不必要處理而簡化處理。藉由使用包含於行動裝置 2〇〇中之非GPS感測器2〇5至225，可由大量使用者記入資 料而不必提供額外裝備。可藉由可係可用且可經由彙總技 術併入至地圖資料產生處理中之較大量之資料來補償經估 計位置資料之準確性的任何損失。 -般而言’經彙總資料經受飼服器進行之統計處理，以 便判定使用者導航至之通路或路線。自經估計位置資料形 成之-特定建㈣之經彙總或經進—步彙總路線轨跡指示 該建築物之可導航區域，例如走廊及房間。可特別自此經 彙總或經進一步彙總路線轨跡資料7〇5可見密集使用之走 廊及公共區域，如圖7中所示。舉例而言，可識別主要走 153149.doc •25· 201227604 廊或大廳，或者入口與出口之間的其他連接部。若偏好， 可取經彙總或經進—步彙總路線軌跡資料之 面。該反面或負面可指示牆壁或障礙物且產生與一習用地 圖影像更為類似之一地圖影像。 雖然以上方法適用於產生包 “，，3瓶2外形及可導航區域 (例如，走廊及房間)之指示的樓層平面圖，但若將上下文 資讯添加至該等樓層平面圖係有益的。舉例而言，可自此 上下文資訊獲得接收樓層、名稱、電梯、會議房間、火災 出口或任何其他合_徵°在某些實施例中，可隨後料 (舉例而言）添加有上下文資訊之位置資料之—日$ 進一步資訊。 可（舉例而言）藉由使用統計分析及/或藉由與預定圖案或 典型型樣相比較及/或藉由與様板或輪廓等相比較來分析 自非GPS感測器中之—者或多者獲得之經估計位置資料及/ 或導航資料及/或㈣位置資料中之型樣以識別特徵。舉例 而言，如上文所詳述，可藉由使用壓力資料來判定上坡/ 下坡及樓梯及/或使用羅盤資料來識別緊急轉彎。作為另 一實例，行動裝置在進入一建築物時其行進之速度或來自 一步數器或陀螺儀之讀數可指示該行動裝置係在一車輛 (例如，一汽車或一腳踏車）中或由一行人攜載。以此方 式，舉例而言，一車輛在其中進入該建築物之區域可與一 腳踏車或汽車停車場相關聯。在另一實例中，顯示在中午 期間諸多不同使用者在某一區域中聚集之經進一步彙總路 線軌跡可指示彼位置處之一餐廳。顯示大量各種使用者在 153149.doc -26 - 201227604 不同時間去祜_ + , 處之— 一特疋位置之一系列路線軌跡可指示彼位置 廁所。將瞭解，可應用指示其他位置之其他型樣。 用於獲得·卜γ + -名 上下文資料之另-種重要方法係自儲存於行動 、上或可由行動裝置存取之使用者資料。舉例而言，若 』者之行動裝置上提供或使用者之行動裝置可存取_ 日^己订事曆或議程功能性，則此可（舉例而言）自動地用 於乂又參考所储存或所存取使用者資料巾所含有之時間及 位置與針對給定時間使用非㈣感測器判定之經估計位 置。該議程資訊可含有會議房間資訊。舉例而言，若一議 程心不—行動裝置2⑼之—使用者在第七樓層上之「 房間」自10h00至I2h00具有一會議，則此資訊可鏈接至針 對此時間判定之經估計位置資料，讀可識別房間名稱及 層級或樓層編號且將其併入至地圖資料中。 如圖4中之步驟435所指示，可自樓層平面圖、樓層或層 級資料產生地圖資料且用所判定或所擷取上下文資料對其 進行填充。然後可將自由行動裝置2〇〇供應之經估計（及 GPS)位置資料得到之地圖資料自伺服器提供回至行動裝置 200以便幫助其導航且可以週期性或使用者選擇間隔對其 進行更新，以便反映改良之地圖資料，乃因自行動裝置 200得到之位置資料量增加。 如上文所洋述，s亥系統可彳呆作以自若干個.行動裝置2 〇 〇 收集且處理具有不同準確性之經估計位置資料且使用該經 估計位置負料來產生準雄且有意義的地圖資料，即使是對 於一 GPS信號較弱或不可用之位置及對於可難以接近之位 153149.doc -27- 201227604 置。此外’藉由結合本文中所闡述之方法來使用自含式且 廣泛可用之行動裝置200且使用—r使用者團體」，可在 無需任何個別組織投入巨大資源之情形下收集大量地圖資 料。 藉由分離GPS與非GPS得到位置資料，可簡化處理。藉 由使用包含於自含式行動裝置中之感測器，可由大量使用 者記入資料而不必給其提供額外裝備。可藉由可係可用且 可經由彙總技術併入至地圖資料產生處理中之較大量之資 料來補償來自此方法之位置資料之準確性的任何損失。 亦將瞭解，雖然目前為止已闡述本發明之各種態樣及實 施例，但本發明之範疇並不限於本文中所陳述之特定配置 而是擴展至囊括所有配置以及對其之修改及更改，該等修 改及更改歸屬於隨附申請專利範圍之範疇内。 雖然前述詳細說明中闡述之實施例涉及GPS ,但應注 意，行動裝置200可利用任何種類之位置感測技術作為對 GPS之一替代（或實際上除其之外）^舉例而言，導航裝置 可利用使用其他全球導航衛星系統，例如歐洲伽利略系 統。同樣，其不限於基於衛星，而是可使用基於地面之信 標或使得裝置能夠判定其地理位置之任一其他種類之系統 (例如，基於影像辨識之位置判定系統、基於雷射之系統 及/或使用者輸入）容易地發揮作用。 另外，雖然已有利地闡述用於識別例如樓梯或電梯等特 徵之各種技術，但將瞭解，並非需要採用所有此等技術或 可替代地使用本文中未詳細闡述但熟習此項技術者鑒於本 153149.doc -28 · 201227604 申請案之教示將顯而易見之技術或實際上進一步技術之不 同組合。 此外’已闡述非GPS感測器之各種實例。將瞭解，一合 適行動裝置不需要具有所闡述之非GP S感測器，而是可替 代地具有非GPS感測器之替代或不同組合，其可包括熟習 此項技術者鑒於本申請案之教示將顯而易見之除本文中所 闡述之彼等之外的非GPS感測器。 本發明之替代實施例可實施為供用於一電腦系統之一電 腦程式產at7，該電腦私式產品係（舉例而言）儲存於一有形 貧料記錄媒體（例如，一磁片、CD_R〇M、尺〇河或固定磁 碟）上或體現於一電腦資料信號中之一系列電腦指令，該 信號係在一有形媒體或一無線媒體（舉例而言，微波或紅 外線）上發射。該電腦指令系列可構成上文所闡述之功能 性之全部或部分，且亦可儲存於任一揮發性或非揮發性記 憶體褒置中’例如半導體、磁性、光學或其他記憶體裝 置。 高’、S此項技術者亦將很好地理解，雖然所闡述之實施例 藉助軟體實施某些功能性，但彼功能性可同等地僅實施於 硬體（舉例而S ’藉助-個或多個魔（專用積體電路））中 或實際上由硬體與軟體之—混合來實施。因此，本發明之 範脅不應解釋為僅限於實施於軟體中。 最後亦、應注意，雖然所附申請專利範圍陳述本文中所 Μ述之特徵之特定組合’但本發明之範嘴並不限於下文所 特定組合’而疋擴展至囊括本文中所揭示之特徵或 153149.doc -29- 201227604 實施例之任一組合，而不管彼特定組合在此時是否已具體 列舉於隨附申請專利範圍中。 【圖式簡單說明】 現在將參照附圖僅以實例方式闡述本發明的至少一項實 施例，附圖t : 圖1係可由-導航裝置使用之一全球定位系統（Gps)之一 例示性部分的一示意性圖解； 圖2係用於自一建築物内收集位置資料之一行動裝置之 一實例的一示意圖； 圖3係包含圖2之-行動裝置及—飼服器之用於收集位置 資料之一系統的一示意圓； 圖4係表示用於自使用圓2之一個或多個行㈣置 資料產生地圖資料之一方法的一流程圖； ' 圖5係需要其内部地圖繪製資料 -示意圖； 建名物之-貫例的 圖6係圖3中所示之建築物的一輪廓； 圖7係顯示上覆於一樓層平面圓地圖上 裝置提供至複數個路線軌跡位置資 _複數個行動 寸的一不意圖丨及 圖8係與在具有5個樓層或層級之— &银物内判定 _ 列位置相關聯之高度或z方向的一表示。 系 【主要元件符號說明】 100 全球定位系統 102 衛星 104 地球 153149.doc •30· 201227604 106 全球定位系統接收器 108 展頻譜資料信號 152 通信頻道 154 處理器 156 記憶體 158 有線或無線連接 160 大容量資料儲存裝置 162 發射器 164 接收器 166 發射器 168 接收器 200 行動裝置 205 非全球定位系統導航感測器 210 非全球定位系統導航感測器 215 非全球定位系統導航感測器 220 非全球定位系統導航感測器 225 全球定位系統感測器 230 處理器 235 通信設備 500 建築物 505 入口 705 經彙總路線軌跡 153149.doc -31 -The summary route 702 of 200 conveys, for example, will come from the mobile device to the server 150, so it can enter 153149.doc • 24-201227604 one step with a specific building that has been determined and supplied by other mobile devices 200. The route trajectory or summary route trajectory 7〇5 is summarized. For example, the server may be a user group J (eg, TomTom Map Sharing (rtm)), where a number of spoofing devices provide estimated location data (in this case, collected by it) In the form of aggregated location data, and benefiting from the resulting map data generated by both the user's mobile device 200 and other mobile devices. This approach also saves the cost and anger of requiring a cartographer to access each building or enclosed area. lLaL .. The wind is not working hard. In addition, the system is operable to obtain maps of buildings close to their problematic buildings. The advance-to-step total data is less sensitive to the user-specific route (eg, the user's desk) = distortion is caused by the route trajectory being owned by the money-making mobile device. The separation of GPS and non-Gps to obtain location data and/or separation of internal and external locations (4) can simplify processing by avoiding unnecessary processing of relatively accurate (10) data. By using the non-GPS sensors 2〇5 to 225 included in the mobile device 2, the data can be credited by a large number of users without having to provide additional equipment. Any loss of accuracy of the estimated location data may be compensated for by a larger amount of data that may be available and that may be incorporated into the map data generation process via a summary technique. In general, the aggregated data is subjected to statistical processing by the feeder to determine the pathway or route to which the user navigates. From the estimated location data formation - the specific construction (4) summary or further step-by-step summary route indicates the navigable areas of the building, such as corridors and rooms. In particular, the densely used corridors and public areas can be seen from the summary or further summary of the route trajectory data 7,5, as shown in Fig. 7. For example, you can identify the main 153149.doc •25· 201227604 gallery or hall, or other connections between the entrance and exit. If you prefer, you can summarize or route the route trace data. The opposite or negative may indicate a wall or obstacle and produce a map image that is more similar to a conventional map image. While the above method is applicable to a floor plan that produces an indication of the package ", 3 bottles 2 shape and navigable areas (eg, corridors and rooms), it would be beneficial to add contextual information to the floor plans. For example From this contextual information, the receiving floor, name, elevator, meeting room, fire exit, or any other information may be obtained. In some embodiments, the location information may be subsequently added (for example, with contextual information). Day $ Further information. Can be analyzed, for example, from non-GPS sensing by using statistical analysis and/or by comparison with a predetermined pattern or typical pattern and/or by comparison with a seesaw or contour, etc. One or more of the estimated location data and/or navigation data and/or (4) location data obtained by the device to identify features. For example, as described in detail above, by using pressure data Determine uphill/downhill and stairs and/or use compass data to identify emergency turns. As another example, the speed at which a mobile device travels when entering a building may come from a step counter or gyroscope The reading may indicate that the mobile device is carried in a vehicle (eg, a car or a bicycle) or carried by a pedestrian. In this manner, for example, a vehicle in which the vehicle enters the area may be associated with a bicycle Or car parking lot is associated. In another example, a further summary route trajectory showing that many different users are gathering in a certain area during noon can indicate one of the restaurants at the location. A large number of various users are displayed at 153149.doc -26 - 201227604 不同 + + + + + + + + + + + + + + + + + + + + + + + + + 之一 之一 之一 之一 之一 之一 之一 之一 系列 系列 系列 系列 系列 系列 系列 系列 系列 系列 系列 系列 系列 系列Another important method of contextual information is user data stored in, on, or accessible by mobile devices. For example, if the mobile device provided on the mobile device or the user's mobile device is accessible _ day ^Having a calendar or agenda functionality, this can be used, for example, automatically and with reference to the time and location of the stored or accessed user data towel. The estimated location using the non-fourth sensor for a given time. The agenda information may contain meeting room information. For example, if an agenda is not - the mobile device 2 (9) - the user is on the seventh floor The room has a meeting from 10h00 to I2h00, and this information can be linked to the estimated location data for this time determination, reading the recognizable room name and level or floor number and incorporating it into the map material. As indicated by step 435 in Figure 4, map material may be generated from floor plan, floor or hierarchy data and populated with the determined or retrieved context data. The map data obtained from the estimated (and GPS) location data supplied by the free mobile device 2 can then be provided back to the mobile device 200 from the server to assist in its navigation and can be updated periodically or at a user selected interval. In order to reflect the improved map data, the amount of information obtained from the mobile device 200 is increased. As mentioned above, the s-black system can be used to collect and process estimated location data with different accuracy from a number of mobile devices 2 and use the estimated location negatives to generate quasi-male and meaningful Map data, even for locations where a GPS signal is weak or unavailable, and for inaccessible bits 153149.doc -27- 201227604. In addition, by using the self-contained and widely available mobile device 200 and using the -r user community in conjunction with the methods set forth herein, a large amount of map data can be collected without the need for any individual organization to invest significant resources. By separating the GPS and non-GPS to obtain location data, the processing can be simplified. By using the sensors contained in the self-contained mobile device, the data can be credited by a large number of users without having to provide additional equipment. Any loss of accuracy from the location data of the method can be compensated for by a larger amount of material that can be used and that can be incorporated into the map data generation process via summarization techniques. It will also be appreciated that while the various aspects and embodiments of the present invention have been described so far, the scope of the invention is not limited to the specific configuration set forth herein but extends to encompass all configurations and modifications and alterations thereto. Such modifications and changes are within the scope of the accompanying patent application. Although the embodiments set forth in the foregoing detailed description relate to GPS, it should be noted that the mobile device 200 can utilize any kind of position sensing technology as an alternative to (or indeed in addition to) one of the GPS. Other global navigation satellite systems, such as the European Galileo system, can be utilized. Also, it is not limited to satellite-based, but may use ground-based beacons or any other kind of system that enables the device to determine its geographic location (eg, image recognition based position determination systems, laser based systems, and/or Or user input) is easy to work. Additionally, while various techniques for identifying features such as stairs or elevators have been advantageously described, it will be appreciated that it is not necessary to employ all such techniques or alternatively use those not specifically described herein, but those skilled in the art in view of this disclosure. .doc -28 · 201227604 The teachings of the application will be obvious combinations of techniques or actually further techniques. Further, various examples of non-GPS sensors have been described. It will be appreciated that a suitable mobile device need not have the non-GP S sensor described, but instead may have an alternative or a different combination of non-GPS sensors, which may include those skilled in the art in view of this application. The teachings will be apparent to non-GPS sensors other than those set forth herein. An alternative embodiment of the present invention can be implemented for use in a computer program for a computer system, at7, which is stored, for example, on a tangible and lean recording medium (eg, a magnetic disk, CD_R〇M). A series of computer commands embodied in a computer data signal, or transmitted on a tangible medium or a wireless medium (for example, microwave or infrared). The series of computer instructions may constitute all or part of the functionality set forth above, and may also be stored in any volatile or non-volatile memory device such as a semiconductor, magnetic, optical or other memory device. It will be well understood by those skilled in the art that although the illustrated embodiment implements certain functionality by means of software, the functionality can equally be implemented only on hardware (for example, S' by-or In a plurality of magics (dedicated integrated circuits) or actually mixed by a mixture of hardware and software. Therefore, the scope of the present invention should not be construed as being limited to being implemented in a software. Finally, it should be noted that although the scope of the appended claims is a specific combination of the features recited herein, the invention is not limited to the specific combinations described hereinafter, and is extended to include the features disclosed herein or 153149.doc -29- 201227604 Any combination of the embodiments, regardless of whether or not the particular combination has been specifically recited in the scope of the accompanying claims. BRIEF DESCRIPTION OF THE DRAWINGS At least one embodiment of the present invention will now be described by way of example only with reference to the accompanying drawings. FIG. 1 is an illustrative part of one of the global positioning systems (Gps) that can be used by the navigation device. Figure 2 is a schematic diagram of one example of a mobile device for collecting location data from a building; Figure 3 is a collection device including the mobile device and the feeding device of Figure 2; A schematic circle of one of the systems; Figure 4 is a flow chart showing a method for generating map data from one or more rows (4) of the circle 2; 'Figure 5 is required for internal mapping data - Figure 6 shows a profile of a building as shown in Figure 3; Figure 7 shows a device provided on a flat circular map on a floor to provide a plurality of route trajectories. The intent of the inch and Figure 8 are a representation of the height or z-direction associated with the decision_column position in a <> silver object having 5 floors or levels. Department [Key Component Symbol Description] 100 Global Positioning System 102 Satellite 104 Earth 153149.doc •30· 201227604 106 GPS Receiver 108 Spread Spectrum Data Signal 152 Communication Channel 154 Processor 156 Memory 158 Wired or Wireless Connection 160 Large Capacity Data storage device 162 transmitter 164 receiver 166 transmitter 168 receiver 200 mobile device 205 non-global positioning system navigation sensor 210 non-global positioning system navigation sensor 215 non-global positioning system navigation sensor 220 non-global positioning system Navigation sensor 225 Global Positioning System Sensor 230 Processor 235 Communication Equipment 500 Building 505 Entrance 705 Summary Route Track 153149.doc -31 -