Magnetometer arrays for inertial navigation, mapping, and drift compensation

• US 10,168,159 B2
• Filed: 09/24/2015
• Issued: 01/01/2019
• Est. Priority Date: 09/24/2015
• Status: Active Grant

• Current Assignee: Microsoft Technology Licensing LLC (Microsoft Corporation)
• Original Assignee: Microsoft Technology Licensing LLC (Microsoft Corporation)
• Inventors: Ribeiro, Flavio Protasio, Churikov, Anatoly
• Primary Examiner(s): Ho, Anthony
• Application Number:
  US14/864,675
• Publication Number:
  US 20170089706A1
• Time in Patent Office: 1,195 Days
• Field of Search: 702150
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01R 33/10 Plotting field distribution ; Measuring field distribution
• CPC Class Codes: G06F 17/16 Matrix or vector computation , e.g. matrix-matrix or matrix-vector multiplication, matrix factorization matrix transposition G06F7/78
• CPC Class Codes: G06F 18/00 Pattern recognition
• CPC Class Codes: G06V 40/23 Recognition of whole body movements, e.g. for sport training

Abstract

Examples of arrays of magnetometers that can be used as or as part of an inertial measurement unit (IMU) are disclosed herein. Various methods for using such arrays in order to obtain highly precise and locationally unique data, which can be used to correct for drift effects, are also disclosed. In certain embodiments, the Jacobian matrix of the magnetic field is computed from the magnetometer measurements. This Jacobian matrix data can be used to generate a magnetic field map for a particular environment and/or to locate position, velocity, and acceleration of the IMU by referencing such a magnetic field map.

Claims

1. A system, comprising:

a magnetometer array of at least three magnetometers arranged in a fixed configuration in which the magnetometers are spaced apart from one another; and

one or more circuits being programmed or configured to;

receive magnetic field vector values from each of the magnetometers in the magnetometer array; and

compute Jacobian matrix values from the received magnetic field vector values.

2. The system of claim 1, wherein the one or more circuits are further programmed or configured to determine a current physical location of the magnetometer array in an indoor environment, the determination being based at least in part on the magnetic field vector values and the Jacobian matrix values.

3. The system of claim 2, wherein the determination of the current physical location of the magnetometer array is made using a three-dimensional map of magnetic field vector values and Jacobian matrix values in the indoor environment.

4. The system of claim 2, further comprising:

one or more magnetic-field-altering elements placed within the indoor environment.

5. The system of claim 2, wherein the one or more circuits are programmed or configured to determine the current physical location of the magnetometer array in the indoor environment by:

transmitting the magnetic field vector values and the Jacobian matrix values to an external computing system; and

responsive to the transmitting, receiving positional data identifying the current physical position of the magnetometer array in the indoor environment from the external computing system,

wherein the external computing system identifies the position of the magnetometer array in the indoor environment by identifying a position in a three-dimensional map of magnetic field vectors and associated Jacobian values in the indoor environment that corresponds to the magnetic field vectors and the Jacobian matrix values transmitted to the external computing system.

6. The system of claim 5, wherein the external computing system is a remote cloud computing system.

7. The system of claim 2, wherein the system further comprises an accelerometer and a gyroscope, and wherein the current physical location of the magnetometer array in the indoor environment is further determined at least in part by motion values from the accelerometer and the gyroscope.

8. The system of claim 7, wherein the one or more circuits are programmed or configured to determine the current physical location of the magnetometer in the indoor environment by:

transmitting the magnetic field vector values, Jacobian matrix values, and the motion values to an external computing system; and

responsive to the transmitting, receiving positional data identifying a position of the magnetometer array in the indoor environment from the external computing system,

wherein the external computing system identifies the position of the magnetometer array by;

assembling a series of magnetic field vectors and associated Jacobian values along a path traversed by the magnetometer array, the path being determined from the motion values, and

determining the current physical location of the magnetometer array by identifying a series of magnetic field vectors and associated Jacobian values along a path of a three-dimensional map of magnetic field vectors and associated Jacobian values that corresponds to the assembled series.

9. The system of claim 1, wherein the Jacobian matrix values define magnetic field rates of change along each of the x-, y-, and z-directions.

10. The system of claim 1, wherein the one or more circuits are programmed or configured to compute fewer than nine Jacobian matrix values from the magnetic field vector values.

11. The system of claim 1, wherein the magnetometer array consists of three magnetometers.

12. The system of claim 1, wherein the magnetometer array and the one or more circuits are part of an inertial measurement unit (IMU), the IMU being affixed to a device.

13. The system of claim 12, wherein the device is a virtual reality headset.

14. One or more computer-readable media storing computer-executable instructions, which when executed by a computer cause the computer to perform magnetic map construction operations comprising:

inputting magnetic field vector values and associated Jacobian matrix values, the magnetic field vector values being from an inertial measurement unit (IMU) traversing an indoor space, the inertial measurement unit comprising an array of spaced-apart magnetometers, the Jacobian matrix values being computed from the magnetic field vector values measured by the magnetometers; and

constructing a three-dimensional map of magnetic field vectors and associated Jacobian values for the indoor space, the three-dimensional map of magnetic field vectors and associated Jacobian values being constructed at least in part from the inputted magnetic field vector values and associated Jacobian matrix values.

15. The one or more computer-readable media of claim 14, wherein the IMU is a first IMU, and

wherein the constructing the three-dimensional map is performed using magnetic field vector values and associated Jacobian matrix values from one or more additional IMUs traversing the indoor space that are separate from the first IMU.

16. The one or more computer-readable media of claim 14, wherein the constructing the three-dimensional map of magnetic field vectors and associated Jacobian values comprises:

adding the inputted magnetic field vectors and associated Jacobian values to a sequential series of previously received magnetic field vectors and associated Jacobian values;

matching a portion of the three-dimensional map to at least a portion of the sequential series; and

in response to the matching, updating the three-dimensional map using the magnetic field vectors and associated Jacobian values from the sequential series.

17. The one or more computer-readable media of claim 16, wherein the inputting further comprises inputting motion data along with the magnetic field vector values and associated Jacobian matrix values, the motion data being for a contemporaneous time period with the magnetic field vector values and the associated Jacobian matrix values and further being based on data obtained from one or more of an accelerometer or a gyroscope of the IMU.

18. A method, comprising:

by a circuit of an inertial measurement unit (IMU);

inputting magnetic field vector values from multiple magnetometers of a magnetometer array;

computing Jacobian matrix values from the inputted magnetic field vector values; and

selectively deactivating a gyroscope of the IMU based at least in part on the Jacobian matrix values.

19. The method of claim 18, wherein the selectively deactivating the gyroscope comprises determining whether a metric of magnetic field variability in the Jacobian matrix values satisfies a threshold value.

20. The method of claim 18, wherein the metric of magnetic field variability comprises a condition number for a Jacobian matrix assembled from the Jacobian matrix values, and wherein the selectively deactivating is performed when the condition number meets or is less than the threshold value.