Error characterization for GNSS-based position estimates on constrained routes

An apparatus comprising at least one processor and at least one non-transitory memory including computer program code instructions, the computer program code instructions configured to, when executed, cause the apparatus to at least:

• capture GNSS receiver data during a time period by a GNSS receiver disposed onboard a constrained vehicle, wherein the constrained vehicle is configured to traverse a constrained route;
• determine, by one or more processors, a GNSS-based position estimate indicating an estimated location of the GNSS receiver during at least a portion of the time period, the GNSS-based position estimate determined based at least in part on the GNSS receiver data;
• determine, by the one or more processors, an error characterization corresponding to an offset between the position estimate and an expected location of the GNSS receiver along the constrained route;
• cause, by one or more processors, a mobile device to perform a positioning or navigation-related function that accounts for the error characterization, wherein the error characterization comprising the offset between the position estimate and the expected location of the GNSS receiver further comprises a multi-dimensional displacement between the position estimate and the expected location of the GNSS receiver disposed aboard the constrained vehicle along the constrained route during the time period, and wherein the expected location of the GNSS receiver disposed aboard the constrained vehicle along the constrained route during the time period is determined based at least in part on at least one of (a) an inertial measurement unit (IMU) or (b) observations captured by a radio interface coupled to the constrained vehicle;
• and
• further wherein the expected location of the GNSS receiver disposed aboard the constrained vehicle along the constrained route during the time period is determined indirectly via a trusted server.

A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code instructions stored therein, the computer-executable program code instructions comprising program code instructions to:

• capture GNSS receiver data during a time period by a GNSS receiver disposed onboard a constrained vehicle, wherein the constrained vehicle is configured to traverse a constrained route;
• determine, by one or more processors, a GNSS-based position estimate indicating an estimated location of the GNSS receiver during at least a portion of the time period, the GNSS-based position estimate determined based at least in part on the GNSS receiver data;
• determine, by the one or more processors, an error characterization corresponding to an offset between the position estimate and an expected location of the GNSS receiver along the constrained route;
• cause, by one or more processors, a mobile device to perform a positioning or navigation-related function that accounts for the error characterization, wherein the error characterization comprising the offset between the position estimate and the expected location of the GNSS receiver further comprises a multi-dimensional displacement between the position estimate and the expected location of the GNSS receiver disposed aboard the constrained vehicle along the constrained route during the time period, and wherein the expected location of the GNSS receiver disposed aboard the constrained vehicle along the constrained route during the time period is determined based at least in part on at least one of (a) an inertial measurement unit (IMU) or (b) observations captured by a radio interface coupled to the constrained vehicle;
• and
• further wherein the expected location of the GNSS receiver disposed aboard the constrained vehicle along the constrained route during the time period is determined indirectly via a trusted server.