System and method for estimating the position and orientation of a mobile communications device in a beacon-based positioning system
First Claim
Patent Images
1. A method, comprising steps of:
- capturing, at a first mobile device, via an image sensor of the first mobile device, one or more images including at least one signal modulated within visible light, wherein;
the visible light is transmitted from a plurality of visible light sources located within a space;
any one signal is modulated within visible light transmitted by a respective one visible light source; and
each modulated signal corresponds to a respective identity of the respective visible light source;
processing, at the first mobile device, the one or more images to determine, based at least in part on the at least one modulated signal, an estimated location of the first mobile device within the space;
capturing, at the first mobile device, via a compass of the first mobile device, a raw heading measurement;
obtaining, at the first mobile device, the corrected heading estimate based at least in part on the raw heading measurement;
determining, at the first mobile device, the likely orientation of the first mobile device relative to a map of the space;
comparing, at the first mobile device, the corrected heading estimate and the likely orientation of the first mobile device relative to the map of the space to obtain a first apparent deviation;
recording, at the first mobile device, the first apparent deviation in association with the estimated location of the first mobile device;
receiving, at a server platform, from the first mobile device, an indicator of the estimated location and the first apparent deviation for the estimated location within the space;
updating, at the server platform, based on the first apparent deviation for the estimated location, a deviation angle previously stored in association with the estimated location by;
retrieving, based on the indicator of the estimated location, the previously stored deviation angle;
calculating, based on the first apparent deviation for the first mobile device at the estimated location and the previously stored deviation angle, a running average of corrected deviation angles for the estimated location; and
replacing the previously recorded deviation angle with the calculated running average of corrected deviation angles for the estimated location;
receiving, at the server platform, from a second mobile device located at the estimated location, the indicator of the estimated location and a second apparent deviation for the estimated location, the second apparent deviation being a deviation between the corrected heading estimate of the second mobile device at the estimated location and the likely orientation of the second mobile device at the estimated location; and
updating, at the server platform, based on the second apparent deviation for the estimated location, the updated deviation angle by;
retrieving, based on the indicator of the estimated location, the calculated running average of corrected deviation angles for the estimated location as the updated deviation angle;
calculating, based on the second apparent deviation for the second mobile device at the estimated location and the updated deviation angle, an updated running average of corrected deviation angles for the estimated location; and
replacing the updated deviation angle with the updated running average of corrected deviation angles for the estimated location.
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Abstract
An example of a technique for maintaining a previously calibrated mobile device positioning system to account for changes in perturbers of the Earth'"'"'s magnetic field. A mobile device obtains a corrected heading estimate of the mobile device within a space based on a previously recorded heading correction value. The mobile device also calculates a device heading relative to a previously orientated map of the space. The mobile device subsequently updates the heading correction value with any deviation between the corrected heading estimate and the calculated device heading.
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Citations
12 Claims
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1. A method, comprising steps of:
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capturing, at a first mobile device, via an image sensor of the first mobile device, one or more images including at least one signal modulated within visible light, wherein; the visible light is transmitted from a plurality of visible light sources located within a space; any one signal is modulated within visible light transmitted by a respective one visible light source; and each modulated signal corresponds to a respective identity of the respective visible light source; processing, at the first mobile device, the one or more images to determine, based at least in part on the at least one modulated signal, an estimated location of the first mobile device within the space; capturing, at the first mobile device, via a compass of the first mobile device, a raw heading measurement; obtaining, at the first mobile device, the corrected heading estimate based at least in part on the raw heading measurement; determining, at the first mobile device, the likely orientation of the first mobile device relative to a map of the space; comparing, at the first mobile device, the corrected heading estimate and the likely orientation of the first mobile device relative to the map of the space to obtain a first apparent deviation; recording, at the first mobile device, the first apparent deviation in association with the estimated location of the first mobile device; receiving, at a server platform, from the first mobile device, an indicator of the estimated location and the first apparent deviation for the estimated location within the space; updating, at the server platform, based on the first apparent deviation for the estimated location, a deviation angle previously stored in association with the estimated location by; retrieving, based on the indicator of the estimated location, the previously stored deviation angle; calculating, based on the first apparent deviation for the first mobile device at the estimated location and the previously stored deviation angle, a running average of corrected deviation angles for the estimated location; and replacing the previously recorded deviation angle with the calculated running average of corrected deviation angles for the estimated location; receiving, at the server platform, from a second mobile device located at the estimated location, the indicator of the estimated location and a second apparent deviation for the estimated location, the second apparent deviation being a deviation between the corrected heading estimate of the second mobile device at the estimated location and the likely orientation of the second mobile device at the estimated location; and updating, at the server platform, based on the second apparent deviation for the estimated location, the updated deviation angle by; retrieving, based on the indicator of the estimated location, the calculated running average of corrected deviation angles for the estimated location as the updated deviation angle; calculating, based on the second apparent deviation for the second mobile device at the estimated location and the updated deviation angle, an updated running average of corrected deviation angles for the estimated location; and replacing the updated deviation angle with the updated running average of corrected deviation angles for the estimated location. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification