Systems and methods to determine a location of a mobile device

A non-transitory computer storage medium storing instructions which when executed by a server, cause the server to perform a method in determining a location of a mobile device, the method comprising:

• storing a map of radio frequency signal characteristics in a region identified in the map;
• receiving, from a transceiver of the mobile device, radio frequency signals in the region emitted from a plurality of beacons located in a transport corridor within the region;
• determining characteristics of the radio frequency signals received from the transceiver;
• matching, the characteristics of the radio frequency signals with the frequency signal characteristics of the map to determine two successive first locations;
• receiving, via sensors of the mobile device, motion data, including orientation data and acceleration data of the mobile device;
• computing two successive second locations from the motion data;
• determining a confidence level of the two successive first locations and a confidence level of the two successive second locations;
• determining two successive third locations of the mobile device, the determining being based at least on computed weighted averages of the two successive first locations and the two successive second locations, the computed weighted averages being based on the confidence levels of the two successive first locations and the two successive second locations;
• and
• computing a heading of a user of the mobile device based on the two successive third locations of the mobile device.

A server system, comprising:

• at least one a memory;
• at least one microprocessor;
• wherein the at least one memory and at least one processor are configured to perform the following operations:
• receiving, from a transceiver of the mobile device, radio frequency signals in the region emitted from a plurality of beacons located in a transport corridor within the region;
• determining characteristics of the radio frequency signals received from the transceiver;
• matching the characteristics of the radio frequency signals with the frequency signal characteristics of the map to determine two successive first locations;
• receiving, via sensors of the mobile device, motion data, including orientation data and acceleration data of the mobile device;
• computing two successive second locations from the motion data;
• determining a confidence level of the two successive first locations and a confidence level of the two successive second locations;
• determining two successive third locations of the mobile device, the determining being based at least on computed weighted averages of the two successive first locations and the two successive second locations, the computed weighted averages being based on the confidence levels of the two successive first locations and the two successive second locations;
• and
• computing a heading of a user of the mobile device based on the two successive third locations of the mobile device.