Method, apparatus, and system for providing travel direction and navigation in a multi-one-dimensional transportation system

An apparatus comprising:

• at least one processor;
• and
• at least one memory including computer program code for one or more programs,
• the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following,
• process sensor data collected from at least one sensor of a mobile device to determine a set of observed time-sequenced semantic events associated with traveling within a transportation system that includes one or more sections where satellite-based data is unavailable, wherein at least one semantic event of the set of observed time-sequenced semantic events embodies a horizontal turn angle value determined for the one or more sections from gyroscope data included in the sensor data;
• initiate a comparison of the set of observed time-sequenced semantic events against a set of known time-sequenced semantic events associated with the transportation system, wherein the comparison includes comparing the horizontal turn angle value against one or more horizontal turn angle values of the set of known time-sequenced semantic events;
• determine a direction of travel, a location, or a combination thereof of the mobile device within the transportation system based on the comparison;
• provide the direction of travel, the location, or a combination thereof as an output;
• and
• process the output to perform at least one of:
• mapping a geographic area;
• providing navigation routing data;
• updating digital map data;
• map matching the location to a digital map;
• mapping an indoor area;
• and
• navigating an autonomous device.

A non-transitory computer-readable storage medium carrying one or more sequences of one or more instructions which, when executed by one or more processors, cause an apparatus to perform:

• processing sensor data collected from at least one sensor of a mobile device to determine a set of observed time-sequenced semantic events associated with traveling within a transportation system that includes one or more sections where satellite-based data is unavailable, wherein at least one semantic event of the set of observed time-sequenced semantic events embodies a horizontal turn angle value determined for the one or more sections from gyroscope data included in the sensor data;
• initiating a comparison of the set of observed time-sequenced semantic events against a set of known time-sequenced semantic events associated with the transportation system, wherein the comparison includes comparing the horizontal turn angle value against one or more horizontal turn angle values of the set of known time-sequenced semantic events;
• determining a direction of travel, a location, or a combination thereof of the mobile device within the transportation system based on the comparison;
• providing the direction of travel, the location, or a combination thereof as an output;
• and
• processing the output to perform at least one of:
• mapping a geographic area;
• providing navigation routing data;
• updating digital map data;
• map matching the location to a digital map;
• mapping an indoor area;
• and
• navigating an autonomous device.