Patent Publication Number: US-8538676-B2

Title: Mobile geographic information system and method

Description:
BACKGROUND AND SUMMARY OF THE RELATED ART 
     1. Field of the Invention 
     The present invention relates generally to systems, methods and devices for determining geographic information, and specifically to distributed systems, methods and devices for interpreting spatial and geographic data and presenting said data to a user. 
     2. History of the Related Art 
     Recent years have seen a proliferation in the field of navigation and way-finding, particularly as applied to automotive travel. Many new vehicles are equipped with navigation devices for aiding the operator in his or her travels. Although these developments are a welcome improvement over maps, they still suffer from limitations imposed by the very nature of automotive travel. For example, routes for car navigation are confined to street networks and any instruction given to navigators is always with reference to the underlying network. The ride from Boston to New York, for instance, takes place on the different types of street networks. Automotive networks include a number of physical constraints on the movement of vehicles, such as one-way streets, on-ramps, exit ramps, and the like. Moreover, automotive networks contain a number of rules, such as traffic lights, speed limits and other traffic laws. These rules and constraints, together with the street network provide a forgiving system with regard to user and data inaccuracies. As long as route instructions are not given too late, user location and data inaccuracies do not deter drivers from their chosen route. 
     Pedestrian navigation, however, is not confined to a network of streets, but includes all passable areas, such as walkways, squares, and open areas, within or outside buildings. A pedestrian decision point is not specific to a junction between two or more streets, but rather it is a function of the actual position of the pedestrian. This systemic feature of pedestrian navigation results from the natural freedom associated with walking. Pedestrians are free to choose their own path, get on and off street networks anywhere and anytime, take shortcuts, or cross squares. Similar navigation problems are associated with aircraft and vessels, which can more freely choose and select their route without the confines of a street or highway network. 
     Because of these difficulties associated with pedestrian navigation, many pedestrians, pilots and ship navigators still rely on maps as a route-finding tool. Maps an adequate means for understanding spatial environments, as well as for performing tasks such as way finding, trip-planning, and location-tracking. However, static traditional maps have several disadvantages. First, maps necessarily have a fixed orientation. That is, the map always faces in one direction (typically north). A user, however, may be facing any direction at any given moment. Hence, in order to understand the map, a user needs to perform some kind of rotation, either of himself or of the map to align his frame of reference with the map&#39;s frame of reference. This process puts an immense cognitive load on the users, because it is not always intuitive and may present considerable difficulties, especially in cases of complex, uniform or unfamiliar spatial environments. 
     Maps are also hindered by the fact that they have a fixed scale that cannot be changed to a different granularity level. This limitation is one of the most restrictive aspects of paper maps. The scale determines the level of zooming into a spatial environment, as well as the level of detail and the type of information that is displayed on a map. Users, however, need to constantly change between different scales, depending on whether they want a detailed view of their immediate surrounding environment or a more extensive and abstract view in order to plan a trip or find a destination. Current solutions to the problem include tourist guides that comprise maps of a specific area at many different scales. Tourist guides, however, are bulky books, difficult to carry around, and search time is considerable as they typically consist of hundreds of pages. 
     Maps also fail to accommodate rapid changes in our natural and urban environments. On a map, all spatial environments and the objects that they encompass, whether artificial or natural, are displayed statically although they are actually dynamic and change over time. Artificial spatial objects, such as buildings, may get created, destroyed, or extended, while others, such as land parcels, may merge, shrink, or change character (e.g., when a rural area is developed). The same holds true for natural features, for instance, a river may expand or shrink because of a flood. The static 2-dimensional map is restricted to representing a snapshot in time and the information on it may soon become obsolete, or worse, misleading. 
     Attempts at electronic maps or geographic information systems have also proven unworkable for practical reasons. One deficiency found in current geographic information systems is that the systems are purely quantitative. That is, any feedback provided to the user is typically in a quantitative measurement of distance, such as for example, instructing a user to turn right in fifty meters. While some users may have an intuitive understanding of space and measurement, other users are likely to become more confused and frustrated as they attempt to determine the relationship between the real space in front of them and the quantitative measure of it provided by the geographic information system. As such, the state of the art lacks an integrated geographic information system that can provide information to a user in a manner that is easily accessible, intuitively understood and qualitative in nature. 
     SUMMARY OF THE PRESENT INVENTION 
     Accordingly, the present invention includes a mobile geographic information system and method that provides information to a user in a manner that is easily accessible, intuitively understood and qualitative in nature. The method of the present invention provides a qualitative user position relative to a geographic feature in response to a predetermined topological relationship. One step of the method recites inputting data representing a user position, wherein the user position is determined by associating a user position with the position of a mobile device. In another step, the method recites defining a first circularly spatially extended point (CSEP) about the user in response to the user position data, as discussed more fully below. The method defines a first waypoint associated with a geographic feature, and the method further recites defining a second CSEP about the first waypoint, also discussed more fully below. The method of the present invention recites providing a qualitative user position relative to the geographic feature in response to a predetermined topological relationship between the first CSEP and the second CSEP. Unlike the prior art discussed above, which is adapted to provide quantitative measures of the distance between two or more objects of interest, the method of the present invention provides a user with a qualitative measure of the degree of closeness to the geographic feature. The particulars of the qualitative output of the preferred method are discussed more fully below with reference to the Figures. 
     The present invention also includes a mobile geographic information system. The mobile geographic information system includes a database containing geographic information including information related to a geographic feature and information relating to a first waypoint associated with the geographic feature and a mobile device in communication with the database. The mobile device includes a controller communicable with the database and a position sensor for determining a user position associated with the mobile device. The mobile device may include any number of devices, such as a personal digital assistant (PDA), a laptop computer, a cellular or digital wireless telephone or smart telephone, a portable music player, or any other suitable electronic device. The controller is adapted to receive information denoting the user position and, in combination with the geographic information relating to the geographic feature and the first waypoint, the controller is adapted to instruct the user as to a qualitative relative position of the mobile device and the geographic feature in response to a predetermined topological relationship between the user position and the first waypoint associated with the geographic feature. 
     These and other features and aspects of the present invention are more clearly delineated in the detailed description of the preferred embodiments, which includes references to the following Figures. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         FIG. 1  is a flow chart depicting a method for providing geographic information in accordance with the present invention. 
         FIG. 2  is a flow chart depicting a method for providing geographic information in accordance with the present invention. 
         FIG. 3  is a flow chart depicting a method for providing geographic information in accordance with the present invention. 
         FIG. 4  is a flow chart depicting a method for providing geographic information in accordance with the present invention. 
         FIG. 5  is a flow chart depicting a method for providing geographic information in accordance with the present invention. 
         FIG. 6  is a schematic representation of a user being guided between two waypoints according to the system and method of the present invention. 
         FIG. 7  is a schematic representation of a plurality of topological relations between a first circular spatially extended point and a second circular spatially extended point in accordance with the present invention. 
         FIG. 8  is a schematic representation of a qualitative instruction being provided to a user in response to the user position relative to one or more waypoints in accordance with the present invention. 
         FIG. 9  is a schematic representation of a qualitative instruction being provided to a user in response to the user position relative to one or more waypoints in accordance with the present invention. 
         FIG. 10  is a schematic representation of a qualitative instruction being provided to a user in response to the user position relative to one or more waypoints in accordance with the present invention. 
         FIG. 11  is a schematic representation of a mobile geographic information system in accordance with the present invention. 
         FIG. 12  is a schematic representation of a mobile geographic information system in accordance with the present invention. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     The following description of the preferred embodiments of the invention is not intended to limit the invention to this preferred embodiment, but rather to enable any person skilled in the mobile geographic information systems to make and use this invention. 
     As shown in the flowchart of  FIG. 1 , the preferred method of the present invention provides a qualitative user position relative to a geographic feature in response to a predetermined topological relationship. Step S 102  of the preferred method recites inputting data representing a user position. As described more fully below, the user position is determined by associating a user position with the position of a mobile device. The mobile device preferably includes location-determining means, which may be integrated therein or may be performed remotely. For example, the mobile device may include a global positioning system (GPS) or other suitable location determining hardware. Alternatively, the mobile device may include an antenna or receiver that functions to communicate with one or more wireless transmission towers. In this example, the location determining means may include triangulation of the position of the mobile device through one or more wireless transmission towers. Other location determining means include those known in the art, such as RADAR, LIDAR, SONAR and the like, as well as manual input of a user location by a user. 
     In step S 104 , the method recites defining a first circularly spatially extended point (CSEP) about the user in response to the user position data, as discussed more fully below. In step S 106 , the preferred method defines a first waypoint associated with a geographic feature. As used herein, the term waypoint refers to an abstract mathematical reference for a location, area or other geographic feature of interest. Waypoints may be associated with larger landmarks such as buildings, parks, lakes, rivers and other points of interest. Alternatively, waypoints be associated with relatively smaller markers such as streets, intersections, signposts, pedestrian walkways and the like. In preferred embodiments, the first waypoint may be a fixed feature such as the type described above. Alternatively, the first waypoint may be mobile relative to the user and to other waypoints. In step S 108 , the method recites defining a second CSEP about the first waypoint, also discussed more fully below. 
     In step S 110 , the preferred method recites providing a qualitative user position relative to the geographic feature in response to a predetermined topological relationship between the first CSEP and the second CSEP. Unlike the prior art, which is adapted to provide quantitative measures of the distance between two or more objects of interest, step S 110  of the present invention provides a user with a qualitative measure of the degree of closeness to the geographic feature. In particular, as the scaling of maps is often difficult to interpret, a user may not readily understand quantitative measures of distance, i.e. as measured in miles, meters or feet. The preferred method, however, provides a user with a qualitative description of his or her position relative to the geographic feature, i.e. distal, close, closer, arrival and the like. The particulars of the qualitative output of the preferred method are discussed more fully below. 
     As shown in the flowchart of  FIG. 2 , the qualitative relationship between the first CSEP and the second CSEP is a function of the relative center points and the radii of the CSEP&#39;s. In step S 104 , as noted above, the method recites defining a first CSEP about the user in response to the user position data. In order to do so, step S 1040  of the method recites defining a first radius R A  about a first center point. The first center point is defined as the center of the CSEP, the radius of which, R A , may be determined or fixed according to the selected method of determining the user location. For example, if the user is employing a mobile device with integrated GPS, then the CSEP will include the first center point and a radius defined by the error rate of the GPS. Accordingly, if the GPS error is +/−2.5 meters, then the radius R A  will be 2.5 meters in length and the first center point will be defined as the center of the user position including error as registered by the GPS. 
     As noted above, step S 108  recites defining a second CSEP about the first waypoint. In step S 1080 , the method recites defining a second radius R B  about a second center point. If the first waypoint is fixed, then the second center point is also fixed and may be determined by GPS, triangulation, or any other suitable cartographic methods. Likewise, if the first waypoint is fixed, then the second radius R B  may be fixed at a predetermined distance based upon its proximity to other waypoints, its relative size compared to a user and other waypoints, or any other suitable metric. For example, if the first waypoint is an intersection or a street sign, then the second radius R B  would preferably be of the same order of magnitude as that of the first radius R A . However, if the first waypoint is a building or a park, then necessarily the second radius R B  must be at least large enough to contain the entire geographic feature defined by the first waypoint. Alternatively, if the first waypoint is mobile relative to the user and another waypoint, then the second center point and the second radius R B  are preferably determined as described above for the first CSEP. 
     As noted above, the first CSEP is defined as a function of the user position, which in turn depends upon the mobile device and the location determining method employed by the mobile device. Referring to  FIG. 3 , step S 104  again recites defining a first CSEP about the user in response to the user position data. The user position data is acquired in step S 1042 , which recites inputting the user position as a function of the mobile device position. The mobile device may include any number of devices, such as a personal digital assistant (PDA), a laptop computer, a cellular or digital wireless telephone or smart telephone, a portable music player, or any other suitable electronic device. As previously noted, the position of the mobile device is determined in accordance with an associated location determining method, which is performed in step S 1044 . The location determining method is in part a function of the hardware included in the mobile device. Thus, a preferred mobile device may include a GPS either integrated or accessible via a wireless communication means known in the art. Alternatively, the preferred mobile device may include an antenna for communicating with one or more fixed transmission towers, from which the position of the mobile device can be readily determined through triangulation. 
     Accordingly, in step S 1046 , the method recites utilizing an integrated location determining method, for example internal GPS as noted above. In step S 1048 , the method recites utilizing wireless network location determining means, for example by triangulating the position of a wireless enabled device such as a cellular, digital or smart telephone. Similarly, the position of a laptop computer having WiFi capabilities can be readily triangulated using fixed WiFi stations within a given range. In step S 1050 , the method recites utilizing remote location determining means, which may include traditional location means such as RADAR, LIDAR and SONAR, which are useful in the location of mobile users, aircraft and vehicles. Alternatively, the location determining means may include a user input feature, which allows a user to input his or her location into the mobile device, from which the first CSEP can be derived according to the methodology described above. 
     Following execution of the location determining method, step S 1052  recites designating a first center point in response to the user location as determined above. In step S 1054 , the method recites extending the first radius R A  about the first center point to define the first CSEP. As previously noted, the dimension of the first radius R A  is typically calculated as a function of the error in the determination of the user position. As such, depending upon the error inherent in the selected location determining method, the first radius R A  may vary accordingly. Alternatively, the dimension of the first radius R A  may be user defined or dynamically variable depending upon the larger environment in which the user finds himself or herself. For example, in a rural environment, a user may select or require a larger first radius R A , which would result in a more regular interaction with any waypoints in the surrounding area. Conversely, if a user is in an urban environment having a large density of waypoints, then the user would select or require a minimum value for the first radius R A  in order to ensure efficient and useful interaction with the surrounding waypoints. Alternatively, the first radius R A  may be dynamically variable as a function of the user&#39;s speed, which can be computed readily from the known change in position of the user over a predetermined period of time. 
     The preferred methodology of the present invention is readily adaptable for wayfinding and navigation in both urban and rural environments. To that end, the preferred method also includes means for determining a user orientation. As shown in  FIG. 4 , step S 112  of the preferred method recites defining a user orientation. User orientation is a function of mobile device orientation, which is input in step S 1120 . In step S 1122 , the method recites performing an orientation determining method, which may include any number of alternative methods and means. A first alternative is included in step S 1124 , which recites utilizing integrated orientation determining means, such as for example a compass or other device integrated into the mobile device. A second alternative is included in step S 1126 , which recites utilizing remote orientation determining means, such as for example a heading or direction determinable from GPS position data or wireless triangulation position data. Thirdly, the orientation determining means may be user-defined, as shown in step S 1128 , in which case the user directly inputs his or her orientation into the mobile device. In step S 1130 , the method recites extending an orientation vector from the first center point to define the user orientation. In one alternative embodiment, the orientation vector may be displayed for the user on his or her mobile device, thus providing a visual indicator of the user&#39;s orientation and/or direction of travel. In another alternative embodiment, the orientation vector as displayed to the user may have a dynamically variable appearance that changes as a function of the user&#39;s speed. Thus, if a user is quickly moving through a park or neighborhood, the orientation vector as presented will be relatively large. Conversely, if the user is standing still and merely rotating the mobile device about his or her position, then the orientation vector as presented will be relatively small. 
     In another preferred embodiment, the methodology of the present invention functions to aid a user in navigating from a location to or near a geographic feature or location of interest. As shown in the flowchart of  FIG. 5 , this embodiment of the present invention utilizes a second waypoint in order to direct a user through the qualitative feedback discussed above. In step S 114 , the method recites inputting the user position, which defines a first CSEP, as defined above with regard to the mobile device. In step S 116 , the method recites inputting the user orientation, which is preferably accomplished according to the methodology described above. In step S 118 , the method recites inputting a first waypoint, which defines a second CSEP, as defined above. In step S 120 , the method recites inputting a second waypoint, which defines a third CSEP. As noted above, the radii of the first and second CSEPs may be distinct or substantially identical. Similarly, the radius of the third CSEP that is defined about the second waypoint may be distinct from or substantially identical in dimension to either of the first or second radii. Thus for example, if the first waypoint is an intersection or street sign, and the second waypoint is a building, monument or other landmark, then the respective waypoints will have substantially distinct radii in order to aid in determining the user&#39;s qualitative positions relative thereto. Conversely, if both the first and second waypoints are of similar physical dimensions, such as intersections or street signs, then their respective radii may be substantially identical to aid the user in qualitative navigation between the two waypoints. 
     In step S 122 , the method recites providing a qualitative user position relative to the first waypoint and the second waypoint. Preferably, this step is performed in response to a predetermined topological relationship between the first CSEP, the second CSEP and the third CSEP, as described further herein. In step S 124 , the method recites providing a user orientation relative to the first waypoint and the second waypoint. Preferably, this step is accomplished by comparing the relative positions of the user, the first waypoint and the second waypoint and the user orientation, as defined above. In step S 126 , the method recites instructing the user as to a navigable route between the first waypoint and the second waypoint in response to the user position and the user orientation. Accordingly, step S 126  functions to provide the user with qualitative position feedback combined with orientation feedback in order to direct the user to, from, and between the first waypoint and second waypoint. 
     As shown schematically in  FIG. 6 , the system and method of the present invention are readily adapted to direct a user from a point a to a point d through a series of two or more waypoints, designated c and d in  FIG. 6 . As the user is moving between points b and c, the present invention provides a refined route instruction, which may be given visually by a bent, curved or otherwise two-dimensional arrow. The refined instruction indicates to the user that he or she must first proceed to the waypoint c prior to turning towards the destination d. By way of comparison, an unrefined instruction might consist merely of a one-dimensional arrow indicating to the user that the destination d is located generally to his or her right. However, pedestrian navigation can be complicated by numerous obstructions, detours and other pitfalls such that a general, unrefined instruction as shown in  FIG. 6  is more likely to cause the user to get lost than reach his or her destination. As such, the present invention, through it&#39;s use of waypoints in combination with a user orientation instruction, more readily ensures that the user will reach his or her destination by following the most efficient navigable route thereto. 
     As previously noted, the preferred methodology provides the user with qualitative information regarding his or her position relative to one or more waypoints. In turn, the qualitative information is generated in response to a predetermined topological relationship between the user position, defined by the first CSEP, and the first waypoint, defined by the second CSEP. As shown in  FIG. 7 , there are twenty-six possible qualitative topological relationships between the first CSEP, which is shaded, and the second CSEP, which is not shaded. The twenty-six qualitative topological relationships can be further classified into eight distinct qualitative measurements of the relative positions of the first CSEP and the second CSEP. These eight qualitative measurements include a disjointed relationship, a meeting relationship, an overlapping relationship, a covering relationship, a covered by relationship, a containing relationship, and inside relationship and an equal relationship. 
     As previously noted, however, it is possible that the first radius R A  and the second radius R B  will be distinct, thus resulting in differing sizes for the first CSEP and the second CSEP. Therefore, the present invention preferably provides the qualitative assessment of the relative positions of the first CSEP and the second CSEP relative to their respective center points. That is, as the radii of the first CSEP and the second CSEP may be variable, the present invention provides the user with his or her relative position as a function of the aforementioned radii. Accordingly, the twenty-six topological relationships that define the relative positions of the first CSEP and the second CSEP are shown below in Table 1. 
     
       
         
           
               
               
               
             
               
                 TABLE 1 
               
               
                   
               
               
                 Topological 
                   
                   
               
               
                 Relation 
                 Distance d A,B  = f(R A , R B ) 
                 Radius R B  = f(R A ) 
               
               
                   
               
             
            
               
                 Disjoint 
                 &gt;(R A  + R B ) 
                 Any 
               
               
                 Meet 
                 =(R A  + R B ) 
                 Any 
               
               
                 Overlap 1 
                 &gt;R A  AND &gt;R B  AND &lt;(R A  + 
                 Any 
               
               
                   
                 R B ) 
                   
               
               
                 Overlap 2 
                 =R A  AND =R B   
                 =R A   
               
               
                 Overlap 3 
                 &lt;R A  AND &lt;R B   
                 &gt;½ R A  AND &lt;2 * R A   
               
               
                 Overlap 4 
                 =R A  AND &gt;R B   
                 &lt;R A   
               
               
                 Overlap 5 
                 &lt;R A  AND &gt;½ R A  AND  
                 &lt;R A   
               
               
                   
                 &gt;R B   
                   
               
               
                 Overlap 6 
                 &lt;R A  AND =R B  R A  AND  
                 &lt;R A  AND &gt;½ R A   
               
               
                   
                 &gt;½ R A   
                   
               
               
                 Overlap 7 
                 &gt;R A  AND =R B   
                 &gt;R A   
               
               
                 Overlap 8 
                 &gt;R A  AND &lt;R B   
                 &gt;R A   
               
               
                 Overlap 9 
                 =R A  AND &lt;R B  AND  
                 &gt;R A  AND &lt;2 * R A   
               
               
                   
                 &gt;½ R B   
                   
               
               
                 Covers 1 
                 &lt;R A  AND &gt;½ R A  OR  
                 &lt;½ R A   
               
               
                   
                 &lt;R A  AND &gt; R B   
                   
               
               
                 Covers 2 
                 =½ R A  AND =R B   
                 =½ R A   
               
               
                 Covers 3 
                 &lt;½ R A  AND &lt;R B   
                 &gt;½ R A  AND &lt;R A   
               
               
                 Covered by 1 
                 &gt;R A  AND &gt;½ R B  AND  
                 &gt;2 * R A   
               
               
                   
                 &lt;R B   
                   
               
               
                 Covered by 2 
                 =R A  AND =½ R B   
                 =2 * R A   
               
               
                 Covered by 3 
                 &lt;R A  AND &lt;½ R B   
                 &lt;2 * R A  AND &gt;R A   
               
               
                 Contains 1 
                 &lt;R A  AND &gt;R B   
                 &lt;½ R A   
               
               
                 Contains 2 
                 &lt;½ R A  AND =R B   
                 &lt;½ R A   
               
               
                 Contains 3 
                 &lt;½ R A  AND &lt;R B   
                 &lt;R A   
               
               
                 Contains 4 
                 o 
                 &lt;R A   
               
               
                 Inside 1 
                 &gt;R A  AND &lt;R B   
                 &gt;2 * R A   
               
               
                 Inside 2 
                 =R A  AND &lt;½ R B   
                 &gt;2 * R A   
               
               
                 Inside 3 
                 &lt;R A  AND &lt;½ R B   
                 &gt;R A   
               
               
                 Inside 4 
                 o 
                 &gt;R A   
               
               
                 Equal 
                 o 
                 =R A   
               
               
                   
               
            
           
         
       
     
     Referring back to  FIG. 7 , one will readily appreciate that the twenty-six topological relationships that are possible between the first CSEP and the second CSEP render only eight qualitative respective positions, which are shown in detail below in Table 3. For example, there are nine possible ways in which the first CSEP and the second CSEP can overlap. However distinct these nine possibilities are topologically, the preferred method described herein will provide the user with a single qualitative instruction as to his or her position relative to the first waypoint. 
     Grouping of the twenty-six possible relations into eight qualitative respective positions depends upon the relative dimensions of the first and second radius. As such the present invention distinguishes between the first CSEP covering the second CSEP and the opposite case. For example, if the first waypoint is defined about a street sign, then the second CSEP might be relatively small compared to the first CSEP. In this instance, the first CSEP would cover the second CSEP as the user approached the first waypoint, resulting in a qualitative instruction to the user according to the methods described herein. However, if the first waypoint is defined about a building or monument, then the second CSEP might be relatively large compared to the first CSEP. In this instance, the first CSEP would be covered by the second CSEP, resulting in a distinct qualitative instruction according to the preferred methods described above. The eight qualitative relative positions as a function of the first and second radii are shown below in Table 2, 
     
       
         
           
               
               
               
             
               
                 TABLE 2 
               
               
                   
               
               
                   
                 Size of 
                   
               
               
                 Group 
                 Radius B 
                 Topological Relations 
               
               
                   
               
             
            
               
                 A 
                 o &lt; R B  &lt; ½ R A   
                 Disjoint, meet, overlap 1, 4, 5,  
               
               
                   
                   
                 covers 1, contains 1, 2, 3, 4 
               
               
                 B 
                 R B  = ½ R A   
                 Disjoint, meet, overlap 1, 4, 5, covers  
               
               
                   
                   
                 2, contains 3, 4 
               
               
                 C 
                 ½ R A  &lt; R B  &lt; R A   
                 Disjoint, meet, overlap 1, 3, 4, 5, 6,  
               
               
                   
                   
                 covers 3, contains 3, 4 
               
               
                 D 
                 R B  = R A   
                 Disjoint, meet, overlap 1, 2, 3, equal 
               
               
                 E 
                 R A  &lt; R B  &lt; 2R A   
                 Disjoint, meet, overlap 1, 3, 7, 8, 9,  
               
               
                   
                   
                 covered by 3, inside 3, 4 
               
               
                 F 
                 R B  = 2R A   
                 Disjoint, meet, overlap 1, 7, 8, covered  
               
               
                   
                   
                 by 2, inside 3, 4 
               
               
                 G 
                 2R A  &lt; R B   
                 Disjoint, meet, overlap 1, 7, 8, covered  
               
               
                   
                   
                 by 1, inside 1, 2, 3, 4 
               
               
                   
               
            
           
         
       
     
     Each group in Table 2, which is ordered according to the relative radii of the CSEP&#39;s, can be ordered by the distance between the two CSEPs using Table 1. For example, the disjoint topological relation clearly represents a situation where two CSEPs are further apart than the inside relation, whereas the overlap relation is somewhere in-between disjoint and inside. Table 3 below shows the 26 topological relations between two CSEPs ordered by groups and by stages of closeness, which range from furthest at or near state 1 to closest at or near stage 8. There are 8 degrees of closeness for each group A through G, except for group D, which has only six. For group D, however, the topological relations are matched with the topological relations in other groups that have the same distance between the pivots. Column five is therefore empty. We see that column one, two, and three are the same in every group. Column eight is consistent in that it only contains the topological relations where the two center points of the CESP&#39;s coincide. Columns four and six contain all the topological relations where the distance between the center points is the radius of R A  or R B . The table is consistent as well in that any topological relation is in only one column. As such, it is possible to reason about the degree of closeness independent of its group in Table 2, and therefore provide a user with a qualitative relative position, derived from the eight stages of closeness shown below. 
     
       
         
           
               
               
             
               
                 TABLE 3 
               
             
            
               
                   
               
               
                   
                 Stages of Closeness 
               
            
           
           
               
               
               
               
               
               
               
               
               
            
               
                 Group 
                 1 
                 2 
                 3 
                 4 
                 5 
                 6 
                 7 
                 8 
               
               
                   
               
               
                 A 
                 Disjoint 
                 Meet 
                 Overlap 1 
                 Overlap 4 
                 Overlap 5, 
                 Contains 2 
                 Contains 3 
                 Contains 4 
               
               
                   
                   
                   
                   
                   
                 covers 1, 
                   
                   
                   
               
               
                   
                   
                   
                   
                   
                 contains 1 
                   
                   
                   
               
               
                 B 
                 Disjoint 
                 Meet 
                 Overlap 1 
                 Overlap 4 
                 Overlap 5 
                 Covers 2 
                 Contains 3 
                 Contains 4 
               
               
                 C 
                 Disjoint 
                 Meet 
                 Overlap 1 
                 Overlap 4 
                 Overlap 5 
                 Overlap 6 
                 Overlap 3, 
                 Contains 4 
               
               
                   
                   
                   
                   
                   
                   
                   
                 covers 3, 
                   
               
               
                   
                   
                   
                   
                   
                   
                   
                 contains 3 
                   
               
               
                 D 
                 Disjoint 
                 Meet 
                 Overlap 1 
                 Overlap 2 
                   
                 Overlap 2 
                 Overlap 3 
                 Equal 
               
               
                 E 
                 Disjoint 
                 Meet 
                 Overlap 1 
                 Overlap 7 
                 Overlap 8 
                 Overlap 9 
                 Overlap 3, 
                 Inside 4 
               
               
                   
                   
                   
                   
                   
                   
                   
                 inside 3, 
                   
               
               
                   
                   
                   
                   
                   
                   
                   
                 covered by 3 
                   
               
               
                 F 
                 Disjoint 
                 Meet 
                 Overlap 1 
                 Overlap 7 
                 Overlap 8 
                 Covered By 2 
                 Inside 3 
                 Inside 4 
               
               
                 G 
                 Disjoint 
                 Meet 
                 Overlap 1 
                 Overlap 7 
                 Overlap 8, 
                 Inside 2 
                 Inside 3 
                 Inside 4 
               
               
                   
                   
                   
                   
                   
                 covered by 
                   
                   
                   
               
               
                   
                   
                   
                   
                   
                 1, 
                   
                   
                   
               
               
                   
                   
                   
                   
                   
                 inside 1 
               
               
                   
               
            
           
         
       
     
     An example of the preferred method is shown schematically in  FIGS. 8 ,  9  and  10 . Each of these figures illustrates a user having a first CSEP w attempting to navigate to a location not shown, a first waypoint defining a second CSEP a, and a second waypoint defining a third CSEP b. The qualitative instruction, i, is represented as an arrow of varying dimension and direction. 
     As shown in  FIG. 8 , the first CSEP is disjointed from both the second CSEP and the third CSEP. Accordingly, the preferred method utilizes the orientation methodology to instruct the user as to the direction of the second waypoint. In this instance, a one-dimensional arrow is presented to indicate to the user that he or she is disjointed from at least the second waypoint. As the user approaches the second waypoint, the first CSEP begins to overlap with the third CSEP. As shown in  FIG. 9 , a sufficient degree of overlap, as defined according to the twenty-six topological relationships noted above, results in the instruction to the user being qualitatively modified. As shown, the instruction includes a two-dimensional arrow that instructs the user to continue forward and to anticipate making a right turn. In  FIG. 10 , a distinct degree of overlap has been determined according to the preferred method, and thus the instruction is further modified to instruct the user to immediately and currently change course. The sufficiency of the degree of overlap is determined according to the preferred method and the aforementioned twenty-six topological relations. As such, once the first CSEP sufficiently overlaps the third CSEP, then the user will be instructed to turn to his or her right and proceed in that direction. In the example shown, the instruction includes a one-dimensional arrow that is oriented to the user&#39;s right relative to the arrow shown in  FIG. 8 . 
     Although the foregoing example expresses the qualitative relative positions between the first CSEP and one or more waypoints using an arrow as a visual indicator, other suitable qualitative measures of the relative distances and orientations are also contemplated by the present invention. For example, the qualitative user position may be presented in the form of audible instructions, written instructions, maps and other visual indicators, mechanical vibrations, or a combination of the foregoing as to a preferred route and relative position. Alternatively, a user may be able to select between one or more forms of qualitative positional information, or the mobile device may be adapted to automatically select between one or more qualitative user position presentations in response to the density, size, frequency, or other attribute of the surrounding waypoints. In yet other alternative embodiments, mobile devices may be configured for users having one or more handicaps, such as blindness or deafness, in order to aid such as user in navigation. 
     In still other alternative embodiments, the user may be associated with a vehicle, vessel or other machine that includes the mobile device, possibly integrated therein. For example, if an aircraft is configured with a GPS receiver, then the methodology of the present invention can be utilized by a pilot, copilot or navigator to provide the user with the qualitative position of the aircraft relative to certain waypoints. Example waypoints may include airports, other aircraft, buildings, mountains and other obstructions, landmarks to aid in navigation, or restricted airspace. As noted, the dimension of the radius of any waypoint may vary depending upon its size or importance, thus the present invention can be readily utilized by aviation providers and government regulators to aid in navigation, prevent accidents, and restrict the movement of aircraft within proximal distance of certain spaces. Similar aspects of the present invention are equally applicable to maritime and automotive navigation and positioning methods. 
     The methodology of the present invention is preferably performed by a mobile geographic information system. The preferred mobile geographic information system includes a database containing geographic information including information related to a geographic feature and information relating to a first waypoint associated with the geographic feature and a mobile device in communication with the database. The preferred mobile device includes a controller communicable with the database and a position sensor for determining a user position associated with the mobile device. The mobile device may include any number of devices, such as a personal digital assistant (PDA), a laptop computer, a cellular or digital wireless telephone or smart telephone, a portable music player, or any other suitable electronic device. The preferred controller is adapted to receive information denoting the user position and, in combination with the geographic information relating to the geographic feature and the first waypoint, the preferred controller is adapted to instruct the user as to a qualitative relative position of the mobile device and the geographic feature in response to a predetermined topological relationship between the user position and the first waypoint associated with the geographic feature. 
     As shown in  FIG. 11 , one alternative embodiment of the system  10  includes a mobile device  12  that is communicable with a database  30 . The mobile device  12  functions to provide a user position associated with a user. The mobile device  12  includes a controller  14  that is connected to an antenna  26  that functions to communicate with a router  26  associated with the database  30 . The database  30  includes geographic information including information related to a geographic feature and information relating to a first waypoint associated with the geographic feature. In alternative embodiments, the database  30  may be integrated into the mobile device  12 , and in such instances the mobile device  12  need not include an antenna  26  and the database  30  need not be associated with a router  28 . For example, the database  30  may be configured on a CD-ROM, DVD, or other suitable portable data storage device that the mobile device  12  is adapted to receive. Alternatively, the database  30  may be integrated into a memory unit (not shown) included in the mobile device  12  and connected with the controller  14 , as shown in  FIG. 12 . 
     In the first alternative embodiment, the mobile device  12  includes a GPS device  20  that is adapted to provide a user position utilizing the methods described above. The GPS device  20  may be integrated into the mobile device  12 , or it may be located external to the mobile device  12  but in communication therewith through wired or wireless means. The mobile device  12  of the first alternative embodiment further includes a display  16  and an audio output  18 , such as speakers, a headphone jack or the like. The display  16  and the audio output  18  function to provide the user with the qualitative user position relative to one or more waypoints. Additionally, the mobile device  12  of the first alternative embodiment may include a compass  22  or other suitable orientation finding means connected to the controller  14 . The compass functions to provide a user orientation associated with the mobile device  12 . Alternatively, the user orientation may be determined through the GPS device  20  using historical movements and extrapolating a user orientation there from. In such instances, the mobile device  12  need not include a compass  22  for determining the user orientation. 
     In a second alternative embodiment, depicted in  FIG. 12 , the mobile device  12  is adapted to determine a user position using the antenna  26 . The mobile device  12  of the second preferred embodiment includes a controller  14  that is connected to a display  16  and an audio output  18 . As shown in  FIG. 12 , the mobile device  12  includes a database  30  integrated therein and connected to the controller  14 . The database  30  includes geographic information including information related to a geographic feature and information relating to a first waypoint  40  associated with the geographic feature. As noted above, the first waypoint  40  includes a second CSEP defined about a second center point. Alternatively, the database  30  may be located remotely from the mobile device  12  an accessible through wireless means using the antenna  26 , as described above with reference to  FIG. 11 . 
     In the second alternative embodiment, the mobile device  12  functions to provide a user position through triangulation of a wireless signal from one or more remote transmitters  38 . For example, the mobile device  12  may include a wireless telephone or WiFi enabled device that is communicable with one or more remote transmitters  38 . In this instance, the position of the mobile device  12 , and by extension the user position, can be determined through the known process of triangulation. The user position, as noted above, includes a first CSEP extended about a first center point. 
     The preferred system  10  functions to determine the qualitative position of the user in response to a predetermined topological relationship between the first circular spatially extended point associated with the user and the second circular spatially extended point associated with the first waypoint. As noted above with reference to  FIG. 7 , there are twenty-six possible qualitative topological relationships between the first CSEP, which is shaded, and the second CSEP, which is not shaded. The twenty-six qualitative topological relationships can be further classified into eight distinct qualitative measurements of the relative positions of the first CSEP and the second CSEP. These eight qualitative measurements include a disjointed relationship, a meeting relationship, an overlapping relationship, a covering relationship, a covered by relationship, a containing relationship, and inside relationship and an equal relationship. 
     The preferred system  10  may be further adapted to aid a user in determining a navigable route to, from, or around a point of interest. To that end, the database  30  may further include a navigable route related to the geographic feature, the navigable route defined in part by the first waypoint and a second waypoint, wherein the second waypoint comprises a third circular spatially extended point. As noted above with respect to  FIGS. 8 ,  9  and  10 , the system  10  is adapted to instruct the user along the navigable route in response to the user orientation and a predetermined topological relationship between the user position and the second waypoint. Thus, as previously described, the predetermined topological relationship between the user position and the second waypoint includes a topological relationship between a first circular spatially extended point and the third circular spatially extended point. 
     The instructions and relative position provided by the system  10  to the user are preferably qualitative in nature. As noted above, the qualitative user position may be presented in the form of audible instructions, written instructions, maps and other visual indicators, mechanical vibrations, or a combination of the foregoing as to a preferred route and relative position. Alternatively, a user may be able to select between one or more forms of qualitative positional information, or the mobile device may be adapted to automatically select between one or more qualitative user position presentations in response to the density, size, frequency, or other attribute of the surrounding waypoints. In yet other alternative embodiments, mobile devices may be configured for users having one or more handicaps, such as blindness or deafness, in order to aid such as user in navigation. 
     Although described herein with particularity and referring to specific preferred embodiments and alternatives there from, the scope of the present invention should be understood to include various methods and systems not specifically noted above. In particular, one skilled in the art might readily devise methods and systems having trivial deviations from the embodiments described above without departing from the scope of the present invention. Accordingly, the present invention should be understood to include all that is recited in the following claims, including any equivalent steps, elements, limitations, methods and devices.