Goods & Services

Wireless electronic devices and embedded software for locating and tracking people and providing navigation to people; recorded and downloadable computer software for locating and tracking people and providing navigation to people.

Goods & Services

(1) Wireless electronic devices and embedded software for locating and tracking people and providing navigation to people; recorded and downloadable computer software for locating and tracking people and providing navigation to people.

Goods & Services

Wireless electronic devices and embedded and networked software for locating and tracking people and providing navigation to people

Goods & Services

Wireless electronic devices for locating and tracking people and providing navigation to people

Abstract

Systems, methods and instructions for creating building models of physical structures is disclosed. The building model may be a collection of floors defined by outlines containing regions that may be offset relative to a main region, and a collection of connectors. Connectors may have connection points for tracking, routing and sizing. Connectors may indicate elevation changes through georeferenced structural features. Signal elements may also be features that provide corrections when tracking. Feature descriptors are data that describes the structural configuration and signal elements enabling them to be matched to previously collected data in a database. User interface elements assist a user of a tracking device in collecting floor information, structural features and signal features and validating certain collected information based on previously known information. The height of floors may also be inferred based on sensor data from the tracking device.

IPC Classes  ?

• G06T 17/05 - Geographic models
• G06F 30/13 - Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
• G01C 21/00 - NavigationNavigational instruments not provided for in groups

Abstract

System, computer program products, and methods for detecting and compensating for sensor interference. Sensor interference may result from environmental interference or from electronic signal interference. Sensor location input may be adapted or rejected when interference is detected. The system can monitor the accuracy, as well as the integrity, of all navigation sensors. The system can also automatically eliminate the faulty or compromised data from a final navigation solution.

IPC Classes  ?

• G01S 19/21 - Interference related issues
• G01S 19/08 - Cooperating elementsInteraction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
• G01S 19/37 - Hardware or software details of the signal processing chain
• G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• G01S 19/45 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Abstract

Systems, methods and instructions for creating building models of physical structures is disclosed. The building model may be a collection of floors defined by outlines containing regions that may be offset relative to a main region, and a collection of connectors. Connectors may have connection points for tracking, routing and sizing. Connectors may indicate elevation changes through georeferenced structural features. Signal elements may also be features that provide corrections when tracking. Feature descriptors are data that describes the structural configuration and signal elements enabling them to be matched to previously collected data in a database. User interface elements assist a user of a tracking device in collecting floor information, structural features and signal features and validating certain collected information based on previously known information. The height of floors may also be inferred based on sensor data from the tracking device.

IPC Classes  ?

• G06T 17/05 - Geographic models
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G06F 30/13 - Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads

Abstract

A computer implemented method of validating an output from a GNSS at a receiver including a fusion system comprising location sensors. A location estimate and a location error estimate are computed. A navigation update including a sensor location estimate and sensor location error estimate is also computed with the fusion system based on sensor measurements from the location sensors. A determination is made as to whether or not GNSS filters should be applied based at least on the location estimate, the sensor location estimate, and the sensor location error estimate. When GNSS filters should be applied, the location estimate and/or the location error estimate may be adjusted or rejected and a new navigation update may be computed with the fusion system based on the adjustment or rejection. When the GNSS filters should not be applied, the new navigation update is computed with the location estimate and the location error estimate.

IPC Classes  ?

• G01S 19/00 - Satellite radio beacon positioning systemsDetermining position, velocity or attitude using signals transmitted by such systems
• G01S 19/11 - Cooperating elementsInteraction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• G01S 19/24 - Acquisition or tracking of signals transmitted by the system
• G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• G01S 19/40 - Correcting position, velocity or attitude
• G06F 18/25 - Fusion techniques

Abstract

LK-SURF, Robust Kalman Filter, HAR-SLAM, and Landmark Promotion SLAM methods are disclosed. LK-SURF is an image processing technique that combines Lucas-Kanade feature tracking with Speeded-Up Robust Features to perform spatial and temporal tracking using stereo images to produce 3D features can be tracked and identified. The Robust Kalman Filter is an extension of the Kalman Filter algorithm that improves the ability to remove erroneous observations using Principal Component Analysis and the X84 outlier rejection rule. Hierarchical Active Ripple SLAM is a new SLAM architecture that breaks the traditional state space of SLAM into a chain of smaller state spaces, allowing multiple tracked objects, multiple sensors, and multiple updates to occur in linear time with linear storage with respect to the number of tracked objects, landmarks, and estimated object locations. In Landmark Promotion SLAM, only reliable mapped landmarks are promoted through various layers of SLAM to generate larger maps.

IPC Classes  ?

• H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06K 9/62 - Methods or arrangements for recognition using electronic means
• H04N 5/222 - Studio circuitryStudio devicesStudio equipment
• G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
• G06T 7/277 - Analysis of motion involving stochastic approaches, e.g. using Kalman filters
• G06K 9/32 - Aligning or centering of the image pick-up or image-field
• H04N 13/282 - Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
• H04N 13/00 - Stereoscopic video systemsMulti-view video systemsDetails thereof
• G06K 9/46 - Extraction of features or characteristics of the image
• H04N 13/246 - Calibration of cameras
• H04N 13/122 - Improving the 3D impression of stereoscopic images by modifying image signal contents, e.g. by filtering or adding monoscopic depth cues

Abstract

Systems, methods and instructions for creating building models of physical structures is disclosed. The building model may be a collection of floors defined by outlines containing regions that may be offset relative to a main region, and a collection of connectors. Connectors may have connection points for tracking, routing and sizing. Connectors may indicate elevation changes through georeferenced structural features. Signal elements may also be features that provide corrections when tracking. Feature descriptors are data that describes the structural configuration and signal elements enabling them to be matched to previously collected data in a database. User interface elements assist a user of a tracking device in collecting floor information, structural features and signal features and validating certain collected information based on previously known information. The height of floors may also be inferred based on sensor data from the tracking device.

IPC Classes  ?

• G06T 17/05 - Geographic models
• G06F 30/13 - Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads

Abstract

Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

IPC Classes  ?

• G01C 5/06 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels by using barometric means
• G01C 5/00 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels
• G01C 21/20 - Instruments for performing navigational calculations

Abstract

Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

IPC Classes  ?

• G01C 5/06 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels by using barometric means
• G01C 5/00 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels
• G01C 21/20 - Instruments for performing navigational calculations

Abstract

Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

IPC Classes  ?

• G01C 5/06 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels by using barometric means
• G01C 5/00 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels
• G01C 21/20 - Instruments for performing navigational calculations

Abstract

Systems, methods and instructions for creating building models of physical structures is disclosed. The building model may be a collection of floors defined by outlines containing regions that may be offset relative to a main region, and a collection of connectors. Connectors may have connection points for tracking, routing and sizing. Connectors may indicate elevation changes through georeferenced structural features. Signal elements may also be features that provide corrections when tracking. Feature descriptors are data that describes the structural configuration and signal elements enabling them to be matched to previously collected data in a database. User interface elements assist a user of a tracking device in collecting floor information, structural features and signal features and validating certain collected information based on previously known information. The height of floors may also be inferred based on sensor data from the tracking device.

IPC Classes  ?

• G06T 17/05 - Geographic models
• G06F 30/13 - Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads

Abstract

A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01C 21/32 - Structuring or formatting of map data
• G01S 19/13 - Receivers
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation

Abstract

A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/32 - Structuring or formatting of map data
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01S 19/13 - Receivers

Abstract

A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building, to indicate signal strength throughout different parts of the building mode, and to illustrate a path of each tracked device associated with signal strength and other annotations.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01S 19/13 - Receivers
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/32 - Structuring or formatting of map data

Abstract

LK-SURF, Robust Kalman Filter, HAR-SLAM, and Landmark Promotion SLAM methods are disclosed. LK-SURF is an image processing technique that combines Lucas-Kanade feature tracking with Speeded-Up Robust Features to perform spatial and temporal tracking using stereo images to produce 3D features can be tracked and identified. The Robust Kalman Filter is an extension of the Kalman Filter algorithm that improves the ability to remove erroneous observations using Principal Component Analysis and the X84 outlier rejection rule. Hierarchical Active Ripple SLAM is a new SLAM architecture that breaks the traditional state space of SLAM into a chain of smaller state spaces, allowing multiple tracked objects, multiple sensors, and multiple updates to occur in linear time with linear storage with respect to the number of tracked objects, landmarks, and estimated object locations. In Landmark Promotion SLAM, only reliable mapped landmarks are promoted through various layers of SLAM to generate larger maps.

IPC Classes  ?

• H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06K 9/62 - Methods or arrangements for recognition using electronic means
• H04N 5/222 - Studio circuitryStudio devicesStudio equipment
• G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
• G06T 7/277 - Analysis of motion involving stochastic approaches, e.g. using Kalman filters
• H04N 13/282 - Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
• H04N 13/00 - Stereoscopic video systemsMulti-view video systemsDetails thereof
• G06K 9/46 - Extraction of features or characteristics of the image
• H04N 13/246 - Calibration of cameras
• H04N 13/122 - Improving the 3D impression of stereoscopic images by modifying image signal contents, e.g. by filtering or adding monoscopic depth cues

Abstract

The present invention relates to LK-SURF, Robust Kalman Filter, HAR-SLAM, and Landmark Promotion SLAM methods. LK-SURF is an image processing technique that combines Lucas-Kanade feature tracking with Speeded-Up Robust Features to perform spatial and temporal tracking using stereo images to produce 3D features can be tracked and identified. The Robust Kalman Filter is an extension of the Kalman Filter algorithm that improves the ability to remove erroneous observations using Principal Component Analysis and the X84 outlier rejection rule. Hierarchical Active Ripple SLAM is a new SLAM architecture that breaks the traditional state space of SLAM into a chain of smaller state spaces, allowing multiple tracked objects, multiple sensors, and multiple updates to occur in linear time with linear storage with respect to the number of tracked objects, landmarks, and estimated object locations. In Landmark Promotion SLAM, only reliable mapped landmarks are promoted through various layers of SLAM to generate larger maps.

IPC Classes  ?

• H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06K 9/62 - Methods or arrangements for recognition using electronic means
• H04N 5/222 - Studio circuitryStudio devicesStudio equipment
• G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
• G06T 7/277 - Analysis of motion involving stochastic approaches, e.g. using Kalman filters
• H04N 13/282 - Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
• H04N 13/00 - Stereoscopic video systemsMulti-view video systemsDetails thereof
• G06K 9/46 - Extraction of features or characteristics of the image
• H04N 13/246 - Calibration of cameras
• H04N 13/122 - Improving the 3D impression of stereoscopic images by modifying image signal contents, e.g. by filtering or adding monoscopic depth cues

Abstract

This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations

Abstract

A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/32 - Structuring or formatting of map data
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01S 19/13 - Receivers

Abstract

A method for computing a correction to a compass heading for a portable device worn or carried by a user is described. The method involves determining a heading for the device based on a compass reading, collecting data from one or more sensors, determining if the device is indoors or outdoors based on the collected data, and correcting the heading based on the determination of whether the device is indoors or outdoors.

IPC Classes  ?

• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01S 19/42 - Determining position

Abstract

This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations

Abstract

Disclosed herein are methods and systems for fusion of sensor and map data using constraint based optimization. In an embodiment, a computer-implemented method may include obtaining tracking data for a tracked subject, the tracking data including data from a dead reckoning sensor; obtaining constraint data for the tracked subject; and using a convex optimization method based on the tracking data and the constraint data to obtain a navigation solution. The navigation solution may be a path and the method may further include propagating the constraint data by a motion model to produce error bounds that continue to constrain the path over time. The propagation of the constraint data may be limited by other sensor data and/or map structural data.

IPC Classes  ?

• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations
• H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management

Abstract

Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

IPC Classes  ?

• G01C 5/06 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels by using barometric means
• G01C 5/00 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels
• G01C 21/20 - Instruments for performing navigational calculations

Abstract

Methods for calibrating a body-worn magnetic sensor by spinning the magnetic sensor 360 degrees to capture magnetic data; if the spin failed to produce a circle contained in an x-y plane fit a sphere to the captured data; determining offsets based on the center of the sphere; and removing the offsets that are in the z-direction. Computing a magnetic heading reliability of a magnetic sensor by determining an orientation of the sensor at one location; transforming the orientation between two reference frames; measuring a first vector associated with the magnetic field of Earth at the location; processing the first vector to generate a virtual vector when a second location is detected; measuring a second vector associated with the magnetic field of Earth at the second location; and calculating the magnetic heading reliability at the second location based on a comparison of the virtual vector and the second vector.

IPC Classes  ?

• G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
• G01C 17/38 - Testing, calibrating, or compensating of compasses

Abstract

Methods for calibrating a body-worn magnetic sensor by spinning the magnetic sensor 360 degrees to capture magnetic data; if the spin failed to produce a circle contained in an x-y plane fit a sphere to the captured data; determining offsets based on the center of the sphere; and removing the offsets that are in the z-direction. Computing a magnetic heading reliability of a magnetic sensor by determining an orientation of the sensor at one location; transforming the orientation between two reference frames; measuring a first vector associated with the magnetic field of Earth at the location; processing the first vector to generate a virtual vector when a second location is detected; measuring a second vector associated with the magnetic field of Earth at the second location; and calculating the magnetic heading reliability at the second location based on a comparison of the virtual vector and the second vector.

IPC Classes  ?

• G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
• G01C 17/38 - Testing, calibrating, or compensating of compasses

Abstract

Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

IPC Classes  ?

• G01C 5/00 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels
• G01C 5/06 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels by using barometric means
• G01C 21/20 - Instruments for performing navigational calculations

Abstract

Disclosed herein are methods and systems for mapping irregular features. In an embodiment, a computer-implemented method may include obtaining tracking data that has dead reckoning tracking data for a tracked subject along a path and performing shape correction on the tracking data to provide a first estimate of the path.

IPC Classes  ?

• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 21/30 - Map- or contour-matching
• E04C 2/08 - Building elements of relatively thin form for the construction of parts of buildings, e.g. sheet materials, slabs, or panels characterised by specified materials of metal, e.g. sheet metal
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves

Abstract

A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building.

IPC Classes  ?

• G01C 21/10 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/32 - Structuring or formatting of map data
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01S 19/13 - Receivers

Abstract

A system and method for locating, tracking, and/or monitoring the status of personnel and/or assets (collectively “trackees”), both indoors and outdoors, is provided. Tracking data obtained from any number of sources utilizing any number of tracking methods (e.g., inertial navigation and signal-based methods) may be provided as input to a mapping application. The mapping application may generate position estimates for trackees using a suite of mapping tools to make corrections to the tracking data. The mapping application may further use information from building data, when available, to enhance position estimates. Indoor tracking methods including, for example, sensor fusion methods, map matching methods, and map building methods may be implemented to take tracking data from one or more trackees and compute a more accurate tracking estimate for each trackee. Outdoor tracking methods may be implemented to enhance outdoor tracking data by combining tracking estimates such as inertial tracks with magnetic and/or compass data if and when available, and with GPS, if and when available.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 21/20 - Instruments for performing navigational calculations
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
• H04W 4/02 - Services making use of location information
• H04W 4/04 - in a dedicated environment, e.g. buildings or vehicles
• G01C 21/34 - Route searchingRoute guidance
• G01C 21/36 - Input/output arrangements for on-board computers
• G01C 17/00 - CompassesDevices for ascertaining true or magnetic north for navigation or surveying purposes
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management

Abstract

A method for computing a correction to a compass heading for a portable device worn or carried by a user is described. The method involves determining a heading for the device based on a compass reading, collecting data from one or more sensors, determining if the device is indoors or outdoors based on the collected data, and correcting the heading based on the determination of whether the device is indoors or outdoors.

IPC Classes  ?

• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01S 19/42 - Determining position
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves

Abstract

A location and mapping service is described that creates a global database of indoor navigation maps through crowd-sourcing and data fusion technologies. The navigation maps consist of a database of geo-referenced, uniquely described features in the multi-dimensional sensor space (e.g., including structural, RF, magnetic, image, acoustic, or other data) that are collected automatically as a tracked mobile device is moved through a building (e.g. a person with a mobile phone or a robot). The feature information can be used to create building models as one or more tracked devices traverse a building.

IPC Classes  ?

• G01C 21/10 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation

Abstract

A method for determining an environmental pressure change affecting a pressure sensor within a portable device to determine an elevation of the portable device is disclosed. The method involves estimating a location of the mobile device, estimating an atmospheric pressure associated with the mobile device at a server based on data indicative of atmospheric pressure received from the mobile device, and generating the elevation of the mobile device based on the atmospheric pressure associated with the mobile device and reference data indicative of an absolute elevation reference. The absolute elevation determined may be based on the estimated location of the mobile device and elevation data obtained from a reference map.

IPC Classes  ?

• G01C 5/06 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels by using barometric means

Abstract

A method for determining an environmental pressure change affecting a pressure sensor within a portable device to determine an elevation of the portable device is disclosed. The method involves sampling pressure data from at least one stationary pressure sensor in an area surrounding a location of the device, wherein the stationary pressure sensor in not within the portable device. The sampled pressure data is then interpolated to a time interval and a difference is computed between the interpolated pressure data over each time interval to determine a differential pressure. The location of the stationary pressure sensor is determined and the differential pressure is added to a pressure map affecting data near the location. The environmental pressure change is then computed over any interval at the location and subtracted from a pressure measurement of the pressure sensor before computing an elevation of the portable device.

IPC Classes  ?

• G01C 5/06 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels by using barometric means

Abstract

Disclosed herein are methods and systems for mapping irregular features. In an embodiment, a computer-implemented method may include obtaining tracking data that has dead reckoning tracking data for a tracked subject along a path and performing shape correction on the tracking data to provide a first estimate of the path.

IPC Classes  ?

• H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management
• G01C 21/30 - Map- or contour-matching
• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves

Abstract

LK-SURF, Robust Kalman Filter, HAR-SLAM, and Landmark Promotion SLAM methods are disclosed. LK-SURF is an image processing technique that combines Lucas-Kanade feature tracking with Speeded-Up Robust Features to perform spatial and temporal tracking using stereo images to produce 3D features can be tracked and identified. The Robust Kalman Filter is an extension of the Kalman Filter algorithm that improves the ability to remove erroneous observations using Principal Component Analysis and the X84 outlier rejection rule. Hierarchical Active Ripple SLAM is a new SLAM architecture that breaks the traditional state space of SLAM into a chain of smaller state spaces, allowing multiple tracked objects, multiple sensors, and multiple updates to occur in linear time with linear storage with respect to the number of tracked objects, landmarks, and estimated object locations. In Landmark Promotion SLAM, only reliable mapped landmarks are promoted through various layers of SLAM to generate larger maps.

IPC Classes  ?

• H04N 15/00 - Stereoscopic colour television systems; Details thereof
• H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
• H04N 13/02 - Picture signal generators
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06K 9/62 - Methods or arrangements for recognition using electronic means
• H04N 5/222 - Studio circuitryStudio devicesStudio equipment
• G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
• G06T 7/277 - Analysis of motion involving stochastic approaches, e.g. using Kalman filters
• H04N 13/282 - Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
• G06K 9/46 - Extraction of features or characteristics of the image
• H04N 13/00 - Stereoscopic video systemsMulti-view video systemsDetails thereof

Abstract

A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self-correct such localizations.

IPC Classes  ?

• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• G06T 15/00 - 3D [Three Dimensional] image rendering
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01S 19/13 - Receivers
• G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO

Abstract

A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self-correct such localizations.

IPC Classes  ?

• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• G01S 3/02 - Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
• G01C 21/00 - NavigationNavigational instruments not provided for in groups

Abstract

A system and method for locating, tracking, and/or monitoring the status of personnel and/or assets (collectively “trackees”), both indoors and outdoors, is provided. Tracking data obtained from any number of sources utilizing any number of tracking methods may be provided as input to a mapping application. The mapping application generates position estimates for trackees using a suite of mapping tools to make corrections to the tracking data. The mapping application further uses information from building data, when available, to enhance position estimates. Indoor tracking methods including sensor fusion methods, map matching methods, and map building methods may be implemented compute a more accurate tracking estimate for trackees. Outdoor tracking methods may be implemented to enhance outdoor tracking data by combining tracking estimates such as inertial tracks with magnetic and/or compass data if and when available, and with GPS, if and when available.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 21/20 - Instruments for performing navigational calculations
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
• H04W 4/02 - Services making use of location information
• H04W 4/04 - in a dedicated environment, e.g. buildings or vehicles
• G01C 21/34 - Route searchingRoute guidance
• G01C 21/36 - Input/output arrangements for on-board computers
• H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management

Abstract

This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation

Abstract

This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations

Abstract

Methods, systems, and computer readable storage media are presented for directional scaling of inertial path data to satisfy ranging constraints. The presented techniques take into account scaling confidence information. In addition to bounding potential scale corrections based on the reliability of the inertial path and the magnetic heading confidence, the techniques bound potential scale parameters based on constraints and solve for directional scale parameters.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth

Abstract

Methods, systems, and computer readable storage media are presented for directional scaling of inertial path data to satisfy ranging constraints. The presented techniques take into account scaling confidence information. In addition to bounding potential scale corrections based on the reliability of the inertial path and the magnetic heading confidence, the techniques bound potential scale, parameters based on constraints and solve for directional scale parameters.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups

Abstract

Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

IPC Classes  ?

• G01C 17/38 - Testing, calibrating, or compensating of compasses

Abstract

A method for detecting a human's steps and estimating the horizontal translation direction and scaling of the resulting motion relative to an inertial sensor is described. When a pedestrian takes a sequence of steps the displacement can be decomposed into a sequence of rotations and translations over each step. A translation is the change in the location of pedestrian's center of mass and a rotation is the change along z-axis of the pedestrian's orientation. A translation can be described by a vector and a rotation by an angle.

IPC Classes  ?

• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers

Abstract

A method for detecting a human's steps and estimating the horizontal translation direction and scaling of the resulting motion relative to an inertial sensor is described. When a pedestrian takes a sequence of steps the displacement can be decomposed into a sequence of rotations and translations over each step. A translation is the change in the location of pedestrian's center of mass and a rotation is the change along z-axis of the pedestrian's orientation. A translation can be described by a vector and a rotation by an angle.

IPC Classes  ?

• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• G06N 3/02 - Neural networks

Abstract

A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self- correct such localizations.

IPC Classes  ?

• G01D 21/00 - Measuring or testing not otherwise provided for

Abstract

A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self- correct such localizations.

IPC Classes  ?

• G01C 21/10 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration

Abstract

Methods for calibrating a body-worn magnetic sensor by spinning the magnetic sensor 360 degrees to capture magnetic data; if the spin failed to produce a circle contained in an x-y plane fit a sphere to the captured data; detemining offsets based on the center of the sphere; and removing the offsets that are in the z-direction. Computing a magnetic heading reliability of a magnetic sensor by determining an orientation of the sensor at one location; transforming the orientation between two reference frames; measuring a first vector associated with the magnetic field of Earth at the location; processing the first vector to generate a virtual vector when a second location is detected; measuring a second vector associated with the magnetic field of Earth at the second location; and calculating the magnetic heading reliability at the second location based on a comparison of the virtual vector and the second vector.

IPC Classes  ?

• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth
• G01C 21/04 - NavigationNavigational instruments not provided for in groups by terrestrial means
• G01C 21/18 - Stabilised platforms, e.g. by gyroscope
• G01D 18/00 - Testing or calibrating apparatus or arrangements provided for in groups
• G01V 3/08 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices

Abstract

A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self- correct such localizations.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• G01C 23/00 - Combined instruments indicating more than one navigational value, e.g. for aircraftCombined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration

Abstract

Disclosed herein is the use of Wi-Fi based location estimates of a mobile device to provide global offset corrections (including automated initialization) and enhanced navigation accuracy through delivery of heading corrections. In an embodiment, dead reckoning tracking data may be received for a tracked subject. The tracking data includes a plurality of tracking points forming a tracking path of the tracked subject. A Wi-Fi position system location estimate is also obtained. The Wi-Fi position system location estimate is one of a plurality of Wi-Fi position system location estimates correlated to the dead reckoning tracking data. And a tracking related parameter is determined based on the correlation of the dead reckoning tracking data to the Wi-Fi position system location estimate.

IPC Classes  ?

• G01S 19/00 - Satellite radio beacon positioning systemsDetermining position, velocity or attitude using signals transmitted by such systems

Abstract

Disclosed herein are methods and systems for mapping irregular features. In an embodiment, a computer-implemented method may include obtaining tracking data that has dead reckoning tracking data for a tracked subject along a path and performing shape correction on the tracking data to provide a first estimate of the path.

IPC Classes  ?

• G01C 21/06 - NavigationNavigational instruments not provided for in groups by terrestrial means involving measuring of drift angleNavigationNavigational instruments not provided for in groups by terrestrial means involving correction for drift

Abstract

Disclosed herein are methods and systems for fusion of sensor and map data using constraint based optimization. In an embodiment, a computer-implemented method may include obtaining tracking data for a tracked subject, the tracking data including data from a dead reckoning sensor; obtaining constraint data for the tracked subject; and using a convex optimization method based on the tracking data and the constraint data to obtain a navigation solution. The navigation solution may be a path and the method may further include propagating the constraint data by a motion model to produce error bounds that continue to constrain the path over time. The propagation of the constraint data may be limited by other sensor data and/or map structural data.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation

Abstract

A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self-correct such localizations.

IPC Classes  ?

• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G08B 1/08 - Systems for signalling characterised solely by the form of transmission of the signal using electric transmission
• G08G 1/123 - Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles

Abstract

Methods for calibrating a body-worn magnetic sensor by spinning the magnetic sensor 360 degrees to capture magnetic data; if the spin failed to produce a circle contained in an x-y plane fit a sphere to the captured data; determining offsets based on the center of the sphere; and removing the offsets that are in the z-direction. Computing a magnetic heading reliability of a magnetic sensor by determining an orientation of the sensor at one location; transforming the orientation between two reference frames; measuring a first vector associated with the magnetic field of Earth at the location; processing the first vector to generate a virtual vector when a second location is detected; measuring a second vector associated with the magnetic field of Earth at the second location; and calculating the magnetic heading reliability at the second location based on a comparison of the virtual vector and the second vector.

IPC Classes  ?

• G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
• G01C 17/38 - Testing, calibrating, or compensating of compasses

Abstract

Disclosed herein are methods and systems for fusion of sensor and map data using constraint based optimization. In an embodiment, a computer-implemented method may include obtaining tracking data for a tracked subject, the tracking data including data from a dead reckoning sensor; obtaining constraint data for the tracked subject; and using a convex optimization method based on the tracking data and the constraint data to obtain a navigation solution. The navigation solution may be a path and the method may further include propagating the constraint data by a motion model to produce error bounds that continue to constrain the path over time. The propagation of the constraint data may be limited by other sensor data and/or map structural data.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management
• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning

Abstract

Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

IPC Classes  ?

• G01C 5/06 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels by using barometric means
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 5/00 - Measuring heightMeasuring distances transverse to line of sightLevelling between separated pointsSurveyors' levels

Abstract

Disclosed herein is the use of Wi-Fi based location estimates of a mobile device to provide global offset corrections (including automated initialization) and enhanced navigation accuracy through delivery of heading corrections. In an embodiment, dead reckoning tracking data may be received for a tracked subject. The tracking data includes a plurality of tracking points forming a tracking path of the tracked subject. A Wi-Fi position system location estimate is also obtained. The Wi-Fi position system location estimate is one of a plurality of Wi-Fi position system location estimates correlated to the dead reckoning tracking data. And a tracking related parameter is determined based on the correlation of the dead reckoning tracking data to the Wi-Fi position system location estimate.

IPC Classes  ?

• H04W 24/00 - Supervisory, monitoring or testing arrangements
• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves

Abstract

A method for detecting a human's steps and estimating the horizontal translation direction and scaling of the resulting motion relative to an inertial sensor is described. When a pedestrian takes a sequence of steps the displacement can be decomposed into a sequence of rotations and translations over each step. A translation is the change in the location of pedestrian's center of mass and a rotation is the change along z-axis of the pedestrian's orientation. A translation can be described by a vector and a rotation by an angle.

IPC Classes  ?

• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• G01P 15/00 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G06F 17/10 - Complex mathematical operations

Abstract

A method for detecting a human's steps and estimating the horizontal translation direction and scaling of the resulting motion relative to an inertial sensor is described. When a pedestrian takes a sequence of steps the displacement can be decomposed into a sequence of rotations and translations over each step. A translation is the change in the location of pedestrian's center of mass and a rotation is the change along z-axis of the pedestrian's orientation. A translation can be described by a vector and a rotation by an angle.

IPC Classes  ?

• G06F 17/10 - Complex mathematical operations
• G01P 15/00 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
• G01C 21/10 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration

Abstract

The invention is directed to methods and systems for locating and monitoring the status of people and moveable assets, such as first responders, including firefighters and other public service personnel, and their equipment both indoors and out. The invention provides for locating and monitoring the status of people and assets in environments where GPS systems do not operate, or where operation is impaired or otherwise limited. The system and method uses inertial navigation to determine the location, motion and orientation of the personnel or assets and communicates with an external monitoring station to receive requests for location, motion orientation and status information and to transmit the location, motion orientation and status information to the monitoring station.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G08G 1/123 - Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles

Abstract

A system and method for locating, tracking, and/or monitoring the status of personnel and/or assets (collectively “trackees”), both indoors and outdoors, is provided. Tracking data obtained from any number of sources utilizing any number of tracking methods may be provided as input to a mapping application. The mapping application generates position estimates for trackees using a suite of mapping tools to make corrections to the tracking data. The mapping application further uses information from building data, when available, to enhance position estimates. Indoor tracking methods including sensor fusion methods, map matching methods, and map building methods may be implemented compute a more accurate tracking estimate for trackees. Outdoor tracking methods may be implemented to enhance outdoor tracking data by combining tracking estimates such as inertial tracks with magnetic and/or compass data if and when available, and with GPS, if and when available.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 21/20 - Instruments for performing navigational calculations
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
• H04W 4/02 - Services making use of location information
• H04W 4/04 - in a dedicated environment, e.g. buildings or vehicles
• H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management

Abstract

A system and method for locating, tracking, and/or monitoring the status of personnel and/or assets (collectively “trackees”), both indoors and outdoors, is provided. Tracking data obtained from any number of sources utilizing any number of tracking methods may be provided as input to a mapping application. The mapping application generates position estimates for trackees using a suite of mapping tools to make corrections to the tracking data. The mapping application further uses information from building data, when available, to enhance position estimates. Indoor tracking methods including sensor fusion methods, map matching methods, and map building methods may be implemented compute a more accurate tracking estimate for trackees. Outdoor tracking methods may be implemented to enhance outdoor tracking data by combining tracking estimates such as inertial tracks with magnetic and/or compass data if and when available, and with GPS, if and when available.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 21/20 - Instruments for performing navigational calculations
• G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
• G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
• H04W 4/02 - Services making use of location information
• H04W 4/04 - in a dedicated environment, e.g. buildings or vehicles
• G01C 21/34 - Route searchingRoute guidance
• G01C 21/36 - Input/output arrangements for on-board computers
• H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management

Abstract

A system and method for locating, tracking, and/or monitoring the status of personnel and/or assets (“trackees”), both indoors and outdoors, is provided. Tracking data obtained from various sources utilizing any number of tracking methods may be provided as input to a mapping application. The mapping application generates position estimates for trackees using a suite of mapping tools to make corrections to the tracking data. The mapping application further uses information from building data, when available, to enhance position estimates. Indoor tracking methods including sensor fusion methods, map matching methods, and map building methods may be implemented to take tracking data from one or more trackees and compute a more accurate tracking estimate for each trackee. Outdoor tracking methods may be implemented to enhance outdoor tracking data by combining tracking estimates such as inertial tracks with magnetic data, compass data, and/or with GPS, if and when available.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• A62B 5/00 - Other devices for rescuing from fire
• G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Goods & Services

Locating, tracking and mapping systems, comprising electronic transmitters, receivers, sensors, displays and computer software all for use in indoor and outdoor locating and tracking of personnel and objects and mapping physical environments.

Goods & Services

Locating, tracking and mapping systems, comprising electronic transmitters, receivers, sensors, displays and computer software all for use in indoor and outdoor locating and tracking of personnel and objects and mapping physical environments

Abstract

A system and method for locating, tracking, and/or monitoring the status of
personnel and/or assets (collectively
"trackees"), both indoors and outdoors, is provided. Tracking data obtained
from any number of sources utilizing any number of
tracking methods may be provided as input to a mapping application. The
mapping application may generate position estimates for
trackees using a suite of mapping tools to make corrections to the tracking
data. The mapping application may use information from
building data to enhance position estimates. Indoor tracking methods including
sensor fusion methods, map matching methods, and
map building methods may be implemented to take tracking data from one or more
trackees and compute a more accurate tracking
estimate for each trackee. Outdoor tracking methods may be implemented to
enhance outdoor tracking data by combining tracking
estimates such as inertial tracks with magnetic and/or compass data and with
GPS.

IPC Classes  ?

• A62B 5/00 - Other devices for rescuing from fire
• A62B 99/00 - Subject matter not provided for in other groups of this subclass
• A62C 99/00 - Subject matter not provided for in other groups of this subclass
• G01V 3/08 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
• H04W 84/12 - WLAN [Wireless Local Area Networks]

Abstract

A system and method for locating, tracking, and/or monitoring the status of personnel and/or assets (collectively 'trackees'), both indoors and outdoors, is provided. Tracking data obtained from any number of sources utilizing any number of tracking methods may be provided as input to a mapping application. The mapping application may generate position estimates for trackees using a suite of mapping tools to make corrections to the tracking data. The mapping application may use information from building data to enhance position estimates. Indoor tracking methods including sensor fusion methods, map matching methods, and map building methods may be implemented to take tracking data from one or more trackees and compute a more accurate tracking estimate for each trackee. Outdoor tracking methods may be implemented to enhance outdoor tracking data by combining tracking estimates such as inertial tracks with magnetic and/or compass data and with GPS.

IPC Classes  ?

• H04Q 7/00 -

Abstract

The present invention is directed to methods and systems for locating and monitoring the status of people and moveable assets, such as first responders, including firefighters and other public service personnel, and their equipment both indoors and out. The invention can provide for locating and monitoring the status of people and assets in environments where GPS systems do not operate, or where operation is impaired or otherwise limited. The system and method uses inertial navigation to determine the location, motion and orientation of the personnel or assets and communicates with an external monitoring station to receive requests for location, motion orientation and status information and to transmit the location, motion orientation and status information to the monitoring station.

IPC Classes  ?

• A62C 99/00 - Subject matter not provided for in other groups of this subclass
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• G01C 23/00 - Combined instruments indicating more than one navigational value, e.g. for aircraftCombined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration

Abstract

The present invention is directed to methods and systems for locating and monitoring the status of people and moveable assets, such as first responders, including firefighters and other public service personnel, and their equipment both indoors and out. The invention can provide for locating and monitoring the status of people and assets in environments where GPS systems do not operate, or where operation is impaired or otherwise limited. The system and method uses inertial navigation to determine the location, motion and orientation of the personnel or assets and communicates with an external monitoring station to receive requests for location, motion orientation and status information and to transmit the location, motion orientation and status information to the monitoring station. The system and method can include storing the location, motion and orientation data as well as status data, in the event that the communication system is unable to communicate with and transmit information to the monitoring station, the system will wait until communication is restored and transmit the status information to the monitoring station to update the location, motion orientation and status information for the person or asset.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G08G 1/123 - Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles