Method and device for indoor positioning

• US 8,498,811 B2
• Filed: 02/09/2011
• Issued: 07/30/2013
• Est. Priority Date: 02/09/2011
• Status: Active Grant

• Current Assignee: Senion AB (Verizon Communications Inc.)
• Original Assignee: SenionLab AB
• Inventors: Lundquist, Christian, Skoglar, Per, Gustafsson, Fredik, Trnqvist, David, Callmer, Jonas
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): MOTT, ADAM R
• Application Number:
  US12/929,690
• Publication Number:
  US 20120203453A1
• Time in Patent Office: 902 Days
• Field of Search: 701/434, 701/489, 701/512, 701/540
• US Class Current: 701/434
• 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 21/16 by integrating acceleration or speed, i.e. inertial navigation
• 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: G01S 5/02522 The radio-map containing measured values of non-radio values

Abstract

The present invention relates to a method for positioning a user inside a building, wherein the user has a user carried device (100) and the user carried device (100) is provided with a direction sensor (110) and a movement sensor (110). The method comprises the steps of providing the user carried device with a vector map (220) of the building, wherein the vector map (220) comprises vectors and nodes representing possible movement paths for the user in the building; determining a starting point in the vector map representing a first position of the user; receiving movement information from the movement sensor (110) regarding movement of the user in the building; receiving direction information from the direction sensor (110) regarding the direction of the movement of the user; and estimating a new position of the user based on the vector map, the movement information and the direction information.

Claims

1. Method for positioning a user inside a building, wherein the user has a user carried device and the user carried device is provided with a direction sensor and a movement sensor, the method comprising the steps of;

providing the user carried device with a vector map of the building, wherein the vector map comprises vectors and nodes representing possible movement paths for the user in the building,

determining at the user carried device a starting point in the vector map representing a first position of the user,

receiving movement information at the user carried device from the movement sensor regarding movement of the user in the building,

receiving direction information at the user carried device from the direction sensor regarding the direction of the movement of the user, and

estimating at the user carried device a new position of the user based on the vector map, the movement information and the direction information.

2. Method according to claim 1, wherein the step of estimating the new position comprises calculating a plurality of possible new positions in the vector map, each having a weight, and calculating a weighted average position, representing the estimated new position, based on the plurality of possible positions and their weights.

3. Method according to any of the claim 1 or 2, wherein the method further comprises a step of providing the user carried device with a property map comprising a map of physical properties in the building selected from the group consisting of radio frequency signals, magnetic field and light intensity, wherein the physical properties are detectable by the user carried device.

4. Method according to claim 3, wherein the step of estimating the position of the user further comprises comparing physical properties in the building detected by the user carried device with the property map.

5. Method according to any of the claim 3 or 4, wherein the step of providing the user carried device with the property map comprises a step wherein information regarding physical properties at certain locations in the building is received by the user carried device from a database comprising information regarding physical properties in the building.

6. Method according to any of the preceding claims, wherein the method further comprises the steps of

detecting physical properties in the building, and

storing information regarding the detected physical properties in a database.

7. Method according to any of the preceding claims, wherein the method further comprises a step of displaying the estimated new position for the user as a position along a vector in the vector map.

8. A user carried device for positioning a user inside a building, the user carried device comprising a direction sensor and a movement sensor, wherein the user carried device is provided with a vector map comprising vectors and nodes representing possible movement paths for the user in the building,

wherein the movement sensor is adapted to provide movement information regarding movement of the user in the building and the direction sensor is adapted to provide direction information regarding the direction of the movement of the user, and

wherein the user carried device comprises a calculation unit that is adapted to, based on a starting point in the vector map representing a first position of the user, estimate a new position of the user based on the vector map representing possible movement paths for the user in the building, the direction information and the movement information.

9. User carried device according to claim 8, wherein the calculation unit is adapted to calculate a plurality of possible new positions, each with a weight, and to calculate a weighted average position, representing the estimated new position, based on the plurality of possible positions and their weights.

10. User carried device according to claim 8, wherein the user carried device comprises a transceiver unit in wireless communication with a central unit, and wherein the user carried device is adapted to receive the vector map from the central unit.

11. User carried device according to claim 8, wherein the user carried device is adapted to receive a property map comprising a map of physical properties in the building detectable by the user carried device.

12. User carried device according to claim 11, wherein the user carried device is adapted to compare physical properties in the building detected by the user carried device with the property map in order to estimate the new position of the user in the vector map.

13. User carried device according to claim 8, wherein the user carried device is provided with at least one sensor for detecting physical properties in the building, and wherein the user carried device is adapted to provide information about the detected physical properties to a database.

14. User carried device according to claim 8, wherein the user carried device is adapted to display the estimated new position for the user as a position along a vector in the vector map.

15. User carried device according to claim 8, wherein the direction sensor comprises a magnetometer.

16. User carried device according to claim 8, wherein the movement sensor comprises an accelerometer.