Self-learning localization data repository

• US 10,257,658 B1
• Filed: 11/30/2017
• Issued: 04/09/2019
• Est. Priority Date: 11/30/2017
• Status: Active Grant

• Current Assignee: Mapsted Corp.
• Original Assignee: Mapsted Corp.
• Inventors: Huberman, Sean, Gulo, Eros
• Primary Examiner(s): Manoharan, Muthuswamy G
• Application Number:
  US15/827,853
• Time in Patent Office: 495 Days
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/08 involving use of the magnetic field of the earth
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 5/02522 The radio-map containing measured values of non-radio values
• CPC Class Codes: G01S 5/02524 Creating or updating the radio-map
• CPC Class Codes: G06N 20/00 Machine learning
• CPC Class Codes: G06N 5/02 Knowledge representation; Symbolic representation
• CPC Class Codes: H04W 4/021 Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/025 using location based information parameters
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings
• CPC Class Codes: H04W 4/40 for vehicles, e.g. vehicle-to-pedestrians [V2P]

Abstract

A method and system for automatically updating a self-learning data repository. The method is executed in a processor of a server computing device to store a fingerprint map of an area in the self-learning data repository, the fingerprint map having positioning fingerprint data that includes magnetic spatial derivative fingerprint data, receive, at the self-learning data repository, at least one of mobile device signal data and mobile device sensor data correlated with a sequence of positions along a trajectory describing a movement of a mobile device relative to the area, the sensor data including mobile device magnetic spatial derivative data, and automatically update, using the processor, the self-learning data repository by adding the at least one of mobile device signal data and mobile device sensor data to the positioning fingerprint data.

Claims

1. A method of updating a self-learning data repository, the method executed in a processor of a server computing device and comprising:

storing, in a memory of the server computing device that constitutes the self-learning data repository, a fingerprint map of an indoor facility, the fingerprint map having positioning fingerprint data that includes magnetic spatial derivative fingerprint data;

receiving, from a mobile device, at the self-learning data repository, at least one of mobile device signal data and mobile device sensor data correlated with a sequence of positions describing a movement of a mobile device along a trajectory within the indoor facility, the sensor data including mobile device magnetic spatial derivative data derived in accordance with a magnetic spatial gradient established based on differences in absolute magnetic field measurements and a spatial separation existing across at least a pair of contiguous positions in the sequence of positions along the trajectory;

compensating, using the processor, for variations in the absolute magnetic measurements of the mobile device by performing a spatial shifting of at least one of the mobile device magnetic spatial derivative data and the magnetic spatial derivative fingerprint data of the self-learning data repository for at least a segment of the trajectory within the indoor facility to create updated mobile device sensor data, wherein the spatial shifting increases a coincidence in overlay of the mobile device magnetic spatial derivative data and the magnetic spatial derivative fingerprint data for the segment of the trajectory; and

automatically updating, using the processor, the self-learning data repository by adding at least one of the mobile device signal data and the updated mobile device sensor data to the positioning fingerprint data.

2. The method of claim 1 wherein the mobile device spatial derivative magnetic data is derived from a set of magnetic field measurements correlated with the sequence of positions.

3. The method of claim 1 wherein the spatial shifting is based on identifying a pattern match between the mobile device magnetic spatial derivative data and the magnetic spatial derivative fingerprint data of the self-learning data repository for the at least a segment of the trajectory.

4. The method of claim 1 further comprising localizing a position of the mobile device along the trajectory based on the updating.

5. The method of claim 1 wherein the magnetic spatial derivative data of the self-learning data repository includes at least one of a horizontal and a vertical magnetic field component data.

6. The method of claim 1 further comprising deploying the updated self-learning data repository for localization of mobile devices relative to the area.

7. The method of claim 1 wherein at least a portion of the self-learning data repository is accessible in a memory of the mobile device.

8. The method of claim 1 wherein the mobile device is a first mobile device, and further comprising at least a second mobile device, wherein the sensor data including magnetic spatial derivative data of the at least a second mobile device data is accorded one of a higher and a lower weighting compared to a weighting accorded the first mobile device during the updating.

9. The method of claim 1 wherein the self-learning data repository further includes at least one of wireless signal strength data, wireless connectivity data, barometric pressure data, accelerometer data, gyroscope data, magnetometer data and ambient lighting sensor data.

10. A self-learning data repository comprising:

a processor; and

a memory storing a set of instructions, the instructions executable in the processor to;

store, in the memory, a fingerprint map of an indoor facility in the self-learning data repository, the fingerprint map having positioning fingerprint data that includes magnetic spatial derivative fingerprint data;

receive, from a mobile device, at the self-learning data repository, at least one of mobile device signal data and mobile device sensor data correlated with a sequence of positions describing a movement of a mobile device along a trajectory within the indoor facility, the sensor data including mobile device magnetic spatial derivative data derived in accordance with a magnetic spatial gradient established based on differences in absolute magnetic field measurements and a spatial separation existing across at least a pair of contiguous positions in the sequence of positions along the trajectory;

compensate, using the processor, for variations in the absolute magnetic measurements of the mobile device by performing a spatial shifting of at least one of the mobile device magnetic spatial derivative data and the magnetic spatial derivative fingerprint data of the self-learning data repository for at least a segment of the trajectory within the indoor facility to create updated mobile device sensor data, wherein the spatial shifting increases a coincidence in overlay of the mobile device magnetic spatial derivative data and the magnetic spatial derivative fingerprint data for the segment of the trajectory; and

automatically update, using the processor, the self-learning data repository by adding at least one of mobile device signal data and the updated mobile device sensor data to the positioning fingerprint data.

11. The self-learning data repository of claim 10 wherein the mobile device spatial derivative magnetic data is derived from a set of magnetic field measurements correlated with the sequence of positions.

12. The self-learning data repository of claim 10 wherein the spatial shifting is based on identifying a pattern match between the mobile device magnetic spatial derivative data and the magnetic spatial derivative fingerprint data of the self-learning data repository for the at least a segment of the trajectory.

13. The self-learning data repository of claim 10 further comprising instructions executable in the processor to:

localize a position of the mobile device along the trajectory based on the automatic update.

14. The self-learning data repository of claim 10 wherein the magnetic spatial derivative data of the self-learning data repository includes at least one of a horizontal and a vertical magnetic field component data.

15. The self-learning data repository of claim 10 further comprising instructions executable in the processor to:

deploy the updated self-learning data repository for localization of mobile devices relative to the area.

16. The self-learning data repository of claim 10 wherein at least a portion of the self-learning data repository is accessible in a memory of the mobile device.

17. The self-learning data repository of claim 10 wherein the mobile device is a first mobile device, and further comprising at least a second mobile device, wherein the sensor data including magnetic spatial derivative data of the at least a second mobile device data is accorded one of a higher and a lower weighting compared to a weighting accorded the first mobile device during the updating.

18. The self-learning data repository of claim 10 wherein the self-learning data repository further includes at least one of wireless signal strength data, wireless connectivity data, barometric pressure data, accelerometer data, gyroscope data, magnetometer data and ambient lighting sensor data.