MOBILE TERMINAL DEVICE FOR POSITIONING SYSTEM BASED ON MAGNETIC FIELD MAP AND METHOD THEREOF

• US 20130150076A1
• Filed: 11/20/2012
• Published: 06/13/2013
• Est. Priority Date: 12/07/2011
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Eung Sun Kim, Ji Hyun Yoon, Yong Kim
• Inventors: KIM, Yong, KIM, Eung Sun, YOON, Ji Hyun
• Granted Patent: US 9,167,440 B2
• Time in Patent Office: Days
• US Class Current: 455/456.1
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01V 3/08 operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices with electromagnetic waves G01V3/12
• CPC Class Codes: H04W 24/00 Supervisory, monitoring or testing arrangements
• CPC Class Codes: H04W 24/10 Scheduling measurement reports ; Arrangements for measurement reports

Abstract

A mobile terminal device for a positioning system based on a magnetic field map and a method thereof, are provided. The mobile terminal includes a memory configured to store a magnetic field map including magnetic field values at positions. The mobile terminal further includes a magnetic field sensor configured to measure a magnetic field value at a position of the mobile terminal. The mobile terminal further includes an inertial measurement unit (IMU) sensor configured to measure an acceleration value and a gyro value of the mobile terminal. The mobile terminal further includes a processor configured to determine the position of the mobile terminal based on the magnetic field map, the magnetic field value, the acceleration value, and the gyro value.

Claims

1. A mobile terminal for a magnetic field map-based positioning system, comprising:

a memory configured to store a magnetic field map comprising magnetic field values at positions;

a magnetic field sensor configured to measure a magnetic field value at a position of the mobile terminal;

an inertial measurement unit (IMU) sensor configured to measure an acceleration value and a gyro value of the mobile terminal; and

a processor configured to determine the position of the mobile terminal based on the magnetic field map, the magnetic field value, the acceleration value, and the gyro value.

2. The mobile terminal of claim 1, wherein the gyro value comprises a rotation value and an orientation value of the mobile terminal.

3. The mobile terminal of claim 1, wherein the processor comprises:

a magnetic field value corrector configured to correct the magnetic field value based on the acceleration value and the gyro value; and

a first position estimator configured to determine the position of the mobile terminal based on the magnetic field map and the corrected magnetic field value.

4. The mobile terminal of claim 3, wherein the magnetic field value corrector comprises:

a tilt error calculator configured to determine a tilt error of the mobile terminal based on the acceleration value and the gyro value; and

a magnetic field value correction implementer configured to correct the magnetic field value based on the tilt error.

5. The mobile terminal of claim 4, wherein the tilt error comprises a pitch, a roll, and a yaw of the mobile terminal.

6. The mobile terminal of claim 1, wherein the processor comprises:

a first direction information generator configured to generate first direction information based on the magnetic field value and the acceleration value;

a second direction information generator configured to generate second direction information based on the acceleration value and the gyro value; and

a direction information weight setting unit configured to set a direction information weight based on the first direction information and the second direction information.

7. The mobile terminal of claim 6, wherein the direction information weight setting unit is further configured to:

subtract a variance of the second direction information from a variance of the first direction information to determine a first value;

set the direction information weight to the second direction information if the first value is greater than a predetermined threshold value;

subtract the variance of the first direction information from the variance of the second direction information to determine a second value; and

set the direction information weight to the first direction information if the second value is greater than the predetermined threshold value.

8. The mobile terminal of claim 6, wherein the processor further comprises:

a travel distance calculator configured to determine a travel distance of the mobile terminal based on the acceleration value; and

a second position estimator configured to determine the position of the mobile terminal based on the magnetic field map, the magnetic field value, the direction information weight, and the travel distance.

9. The mobile terminal of claim 1, wherein the processor comprises:

a magnetic field value corrector configured to correct the magnetic field value based on the acceleration value and the gyro value;

a direction information generator configured to set direction information weight of the mobile terminal based on the corrected magnetic field value, the acceleration value, and the gyro value;

a travel distance calculator configured to determine a travel distance of the mobile terminal based on the acceleration value; and

a third position estimator configured to determine the position of the mobile terminal based on the magnetic field map, the corrected magnetic field value, the direction information weight, and the travel distance.

10. The mobile terminal of claim 1, wherein the processor is further configured to determine the position of the mobile terminal based on a particle filter, or a Kalman filter, or Markov localization, or any combination thereof.

11. A positioning method for a magnetic field map-based positioning system, comprising:

determining a magnetic field map comprising magnetic field values at positions;

measuring a magnetic field value at a position of a mobile terminal;

measuring an acceleration value and a gyro value of the mobile terminal; and

determining the position of the mobile terminal based on the magnetic field map, the magnetic field value, the acceleration value, and the gyro value.

12. The method of claim 11, wherein the gyro value comprises a rotation value and an orientation value of the mobile terminal.

13. The method of claim 11, wherein the determining of the position of the mobile terminal comprises:

correcting the magnetic field value based on the acceleration value and the gyro value; and

determining the position of the mobile terminal based on the magnetic field map and the corrected magnetic field value.

14. The method of claim 13, wherein the correcting comprises:

determining a tilt error of the mobile terminal based on the acceleration value and the gyro value; and

correcting the magnetic field value based on the tilt error.

15. The method of claim 14, wherein the tilt error comprises a pitch, a roll, and a yaw of the mobile terminal.

16. The method of claim 11, wherein the determining of the position of the mobile terminal comprises:

generating first direction information based on the magnetic field value and the acceleration value;

generating second direction information based on the acceleration value and the gyro value; and

setting a direction information weight based on the first direction information and the second direction information.

17. The method of claim 16, wherein the setting comprises:

subtracting a variance of the second direction information from a variance of the first direction information to determine a first value;

setting the direction information weight to the second direction information if the first value is greater than a predetermined threshold value;

subtracting the variance of the first direction information from the variance of the second direction information to determine a second value; and

setting the direction information weight to the first direction information if the second value is greater than the predetermined threshold value.

18. The method of claim 16, wherein the determining of the position of the mobile terminal further comprises:

determining a travel distance of the mobile terminal based on the acceleration value; and

determining the position of the mobile terminal based on the magnetic field map, the magnetic field value, the direction information weight, and the travel distance.

19. The method of claim 11, wherein the determining of the position of the mobile terminal comprises:

correcting the magnetic field value based on the acceleration value and the gyro value;

setting direction information weight of the mobile terminal based on the corrected magnetic field value, the acceleration value, and the gyro value;

determining a travel distance of the mobile terminal based on the acceleration value; and

determining the position of the mobile terminal based on the magnetic field map, the corrected magnetic field value, the direction information weight, and the travel distance.

20. A non-transitory computer-readable storage medium storing a program comprising instructions to implement the method of claim 11.