Patent ID: 9544736
Date: 2017-01-10
CPC Classifications: G01C,H04W

Claim:
1. An apparatus to identify an inconsistent constraint comprising: a processor component; an inconsistent constraint identifier for execution by the processor component to identify an inconsistent constraint from a set of constraints to provide location accuracy, each constraint of the set of constraints comprising indications of a point on a first refined trajectory that corresponds to a point on a second refined trajectory, the first refined trajectory comprising indications of a first virtual pathway through an interior of a structure based on sensor information, and the second refined trajectory comprising indications of a second virtual pathway through the interior of the structure; and a residual error calculator for execution by the processor component to determine a residual error for the inconsistent constraint based on a distance between a first point in the first refined trajectory and a second point in the second refined trajectory, the first and second points corresponding to a location, and the inconsistent constraint identifier to identify the inconsistent constraint based at least in part on the residual error being greater than a distance threshold.