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 mobile device, comprising:
- an image sensor;
a compass;
a processor coupled to the image sensor and the compass;
a user interface element comprising a display screen;
a wireless interface configured to communicate through a network over a wireless medium;
a memory configured to store for each of a plurality of visible light sources located within an interior space for light-based positioning, a respective location of a respective visible light source and a respective heading correction value for the respective visible light source; and
software in the memory to be run by the processor, wherein running of the software by the processor configures the mobile device to implement functions, including functions to;
operate the image sensor to capture one or more images including a plurality of signals modulated within visible light, wherein;
the visible light is transmitted from the plurality of visible light sources located within the interior space for light-based positioning;
each signal is modulated within visible light transmitted by the respective visible light source located within the interior space for light-based positioning; and
each signal corresponds to a respective identity of the respective visible light source;
process the one or more images captured by the image sensor to determine, based at least in part on the plurality of signals, an estimated location of the mobile device within the interior space, the estimated location being an intermediate point between the plurality of visible light sources that is not directly underneath any of the visible light sources;
operate the compass to capture a raw heading measurement at the intermediate point;
obtain a corrected heading estimate for the intermediate point, wherein the function to obtain the corrected heading estimate further includes functions to;
for each modulated signal by the respective visible light source;
obtain the respective location of the respective visible light source; and
retrieve, based on the respective location of the respective visible light source, the respective heading correction value, wherein the function to retrieve includes functions to;
receive, via the wireless interface, the respective heading correction value and the respective location for each of the respective visible light sources; and
store the respective heading correction value and the respective location for each of the respective visible light sources in the memory;
determine, based on the retrieved heading correction values, an estimated heading correction value for the intermediate point, wherein the function to determine includes functions to;
weight the retrieved heading correction values of the visible light sources by an inverse of distance from the respective location of the respective visible light source to the intermediate point; and
average the inversely weighted heading correction values to produce the estimated heading correction value for the intermediate point;
determine, based on the raw measurement and the estimated heading correction value, the corrected heading estimate for the intermediate point; and
operate the user interface element to display a map of the interior space, the displayed map including a depiction of the determined estimated location of the mobile device that is based on processing the one or more images captured by the image sensor including each signal modulated within visible light transmitted by the respective visible light source located within the interior space for light-based positioning and the displayed map being rotated, based on the corrected heading estimate, to be consistent with a physical orientation of a user of the mobile device within the interior space.
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Abstract
An example of a technique for compensating for effects of Earth'"'"'s magnetic field variations on a mobile device positioning system. A mobile device utilizes a compass to obtain an absolute heading when located relative to a visible light source. The mobile device obtains a heading correction value based on an identifier of the visible light source. An orientation of a map displayed on the mobile device is rotated based on the absolute heading and the heading correction value in order to provide an indication of a location of the mobile device properly oriented on the map.
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Citations
13 Claims
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1. A mobile device, comprising:
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an image sensor; a compass; a processor coupled to the image sensor and the compass; a user interface element comprising a display screen; a wireless interface configured to communicate through a network over a wireless medium; a memory configured to store for each of a plurality of visible light sources located within an interior space for light-based positioning, a respective location of a respective visible light source and a respective heading correction value for the respective visible light source; and software in the memory to be run by the processor, wherein running of the software by the processor configures the mobile device to implement functions, including functions to; operate the image sensor to capture one or more images including a plurality of signals modulated within visible light, wherein; the visible light is transmitted from the plurality of visible light sources located within the interior space for light-based positioning; each signal is modulated within visible light transmitted by the respective visible light source located within the interior space for light-based positioning; and each signal corresponds to a respective identity of the respective visible light source; process the one or more images captured by the image sensor to determine, based at least in part on the plurality of signals, an estimated location of the mobile device within the interior space, the estimated location being an intermediate point between the plurality of visible light sources that is not directly underneath any of the visible light sources; operate the compass to capture a raw heading measurement at the intermediate point; obtain a corrected heading estimate for the intermediate point, wherein the function to obtain the corrected heading estimate further includes functions to; for each modulated signal by the respective visible light source; obtain the respective location of the respective visible light source; and retrieve, based on the respective location of the respective visible light source, the respective heading correction value, wherein the function to retrieve includes functions to;
receive, via the wireless interface, the respective heading correction value and the respective location for each of the respective visible light sources; and
store the respective heading correction value and the respective location for each of the respective visible light sources in the memory;determine, based on the retrieved heading correction values, an estimated heading correction value for the intermediate point, wherein the function to determine includes functions to; weight the retrieved heading correction values of the visible light sources by an inverse of distance from the respective location of the respective visible light source to the intermediate point; and average the inversely weighted heading correction values to produce the estimated heading correction value for the intermediate point; determine, based on the raw measurement and the estimated heading correction value, the corrected heading estimate for the intermediate point; and operate the user interface element to display a map of the interior space, the displayed map including a depiction of the determined estimated location of the mobile device that is based on processing the one or more images captured by the image sensor including each signal modulated within visible light transmitted by the respective visible light source located within the interior space for light-based positioning and the displayed map being rotated, based on the corrected heading estimate, to be consistent with a physical orientation of a user of the mobile device within the interior space. - View Dependent Claims (2)
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3. A mobile device, comprising:
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an image sensor; a compass; a processor coupled to the image sensor and the compass; a user interface element comprising a display screen; a wireless interface configured to communicate through a network over a wireless medium; a memory configured to store for each of a plurality of visible light sources located within an interior space for light-based positioning, a respective location of a respective visible light source and a respective heading correction value for the respective visible light source; and software in the memory to be run by the processor, wherein running of the software by the processor configures the mobile device to implement functions, including functions to; operate the image sensor to capture one or more images including a plurality of signals modulated within visible light, wherein; the visible light is transmitted from the plurality of visible light sources located within the interior space for light-based positioning; each signal is modulated within visible light transmitted by the respective visible light source located within the interior space for light-based positioning; and each signal corresponds to a respective identity of the respective visible light source; process the one or more images captured by the image sensor to determine, based at least in part on the plurality of signals, an estimated location of the mobile device within the interior space, the estimated location being an intermediate point between the plurality of visible light sources that is not directly underneath any of the visible light sources; operate the compass to capture a raw heading measurement at the intermediate point; obtain a corrected heading estimate for the intermediate point, wherein the function to obtain the corrected heading estimate further includes functions to; for each modulated signal by the respective visible light source; obtain the respective location of the respective visible light source; and retrieve, based on the respective location of the respective visible light source, the respective heading correction value, wherein the function to retrieve includes functions to;
receive, via the wireless interface, the respective heading correction value and the respective location for each of the respective visible light sources; and
store the respective heading correction value and the respective location for each of the respective visible light sources in the memory;determine, based on the retrieved heading correction values, an estimated heading correction value for the intermediate point, wherein the function to determine includes functions to; weight the retrieved heading correction values of the visible light sources by distance from the respective location of the respective visible light source to the intermediate point such that closer visible light sources have a heavier weighting; and average the weighted heading correction values to produce the estimated heading correction value for the intermediate point; determine, based on the raw measurement and the estimated heading correction value, the corrected heading estimate for the intermediate point; and operate the user interface element to display a map of the interior space, the displayed map including a depiction of the determined estimated location of the mobile device that is based on processing the one or more images captured by the image sensor including each signal modulated within visible light transmitted by the respective visible light source located within the interior space for light-based positioning and the displayed map being rotated, based on the corrected heading estimate, to be consistent with a physical orientation of a user of the mobile device within the interior space. - View Dependent Claims (4, 5, 6)
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7. A method, comprising steps to:
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capture, via an image sensor of a 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 an interior space for light-based positioning; each signal is modulated within visible light transmitted by a respective one visible light source located within the interior space for light-based positioning; and each signal corresponds to a respective identity of a respective visible light source; process the one or more images captured via the image sensor to determine, based at least in part on the plurality of signals, an estimated location of the mobile device within the interior space, the estimated location being an intermediate point between the plurality of visible light sources that is not underneath the visible light sources; capture, via a compass of the mobile device, a raw heading measurement at the intermediate point; obtain a corrected heading estimate based at least in part on the raw heading measurement for the intermediate point, wherein the function to obtain the corrected heading estimate further includes steps to; for each modulated signal by the respective visible light source; obtain a respective location of a respective visible light source; and retrieve, based on the respective location of the respective visible light source, a respective heading correction value, the function to retrieve including functions to; receive, via a wireless interface, the heading correction value and the respective location for each of the respective visible light sources; and store the respective heading correction value and the respective location for each of the respective visible light sources in a memory; and determine, based on the retrieved heading correction values, an estimated heading correction value for the intermediate point, wherein the step to determine includes steps to; weight the retrieved heading correction values of the visible light sources by an inverse of distance from the respective location of the respective visible light source to the intermediate point; and average the inversely weighted heading correction values to produce the estimated heading correction value for the intermediate point.
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8. A method, comprising steps to:
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capture, via an image sensor of a 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 an interior space for light-based positioning; each signal is modulated within visible light transmitted by a respective one visible light source located within the interior space for light-based positioning; and each signal corresponds to a respective identity of a respective visible light source; process the one or more images captured via the image sensor to determine, based at least in part on the plurality of signals, an estimated location of the mobile device within the interior space, the estimated location being an intermediate point between the plurality of visible light sources that is not underneath the visible light sources; capture, via a compass of the mobile device, a raw heading measurement at the intermediate point; obtain a corrected heading estimate based at least in part on the raw heading measurement for the intermediate point, wherein the function to obtain the corrected heading estimate further includes steps to; for each modulated signal by the respective visible light source; obtain a respective location of a respective visible light source; and retrieve, based on the respective location of the respective visible light source, a respective heading correction value, the function to retrieve including functions to; receive, via a wireless interface, the heading correction value and the respective location for each of the respective visible light sources; and store the respective heading correction value and the respective location for each of the respective visible light sources in a memory; and determine, based on the retrieved heading correction values, an estimated heading correction value for the intermediate point, wherein the step to determine includes steps to; weight the retrieved heading correction values of the visible light sources by distance from the respective location of the respective visible light source to the intermediate point such that closer visible light sources have a heavier weighting; and average the weighted heading correction values to produce the estimated heading correction value for the intermediate point. - View Dependent Claims (9, 10, 11)
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12. A method, comprising steps to:
for each of a plurality of visible light sources located within an interior space for light-based positioning; capture, via an image sensor of a mobile device, one or more images including a modulated visible light signal transmitted from the respective visible light source; process the one or more images captured via the image sensor to determine, based at least in part on the modulated visible light signal, an estimated location of the mobile device within the interior space, the estimated location being an intermediate point between the plurality of visible light sources; capture, via a compass of the mobile device, a raw heading of the mobile device; obtain a corrected heading estimate based at least in part on the raw heading measurement for the intermediate point, wherein the function to obtain the corrected heading estimate further includes steps to; for each modulated signal by the respective visible light source; obtain a respective location of a respective visible light source; and retrieve, based on the respective location of the respective visible light source, a respective heading correction value; determine, based on the retrieved heading correction values, an estimated heading correction value for the intermediate point, wherein the step to determine includes steps to; weight the retrieved heading correction values of the visible light sources by an inverse of distance from the respective location of the respective visible light source to the intermediate point; and average the inversely weighted heading correction values to produce the estimated heading correction value for the intermediate point; and transmit, via a wireless interface of the mobile device, the corrected heading estimate and the estimated location of the mobile device.
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13. A method, comprising steps to:
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for each of a plurality of visible light sources located within an interior space for light-based positioning; capture, via an image sensor of a mobile device, one or more images including a modulated visible light signal transmitted from the respective visible light source; process the one or more images captured via the image sensor to determine, based at least in part on the modulated visible light signal, an estimated location of the mobile device within the interior space, the estimated location being an intermediate point between the plurality of visible light sources; capture, via a compass of the mobile device, a raw heading of the mobile device; obtain a corrected heading estimate based at least in part on the raw heading measurement for the intermediate point, wherein the function to obtain the corrected heading estimate further includes steps to; for each modulated signal by the respective visible light source; obtain a respective location of a respective visible light source; and retrieve, based on the respective location of the respective visible light source, a respective heading correction value; determine, based on the retrieved heading correction values, an estimated heading correction value for the intermediate point, wherein the step to determine, based on the retrieved heading correction values, an estimated heading correction value for the intermediate point includes steps to; weight the retrieved heading correction values of the visible light sources by distance from the respective location of the respective visible light source to the intermediate point such that closer visible light sources have a heavier weighting; and average the weighted heading correction values to produce the estimated heading correction value for the intermediate point; and transmit, via a wireless interface of the mobile device, the corrected heading estimate and the estimated location of the mobile device.
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Specification