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 method, comprising steps of:
- capturing, 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 a space;
any one signal is modulated within visible light transmitted by a respective one visible light source; and
each modulated signal corresponds to a respective identity of a respective visible light source;
processing the one or more images to determine, based at least in part on the at least one modulated signal, an estimated location of the mobile device within the space;
capturing, via a compass of the mobile device, a raw heading measurement;
obtaining a corrected heading estimate based at least in part on the raw heading measurement;
determining a likely orientation of the mobile device relative to a map of the space;
comparing the corrected heading estimate and the likely orientation of the mobile device relative to the map of the space to obtain an apparent deviation; and
recording the apparent deviation in association with the estimated location of the mobile device.
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Abstract
An example of a technique for maintaining a previously calibrated mobile device positioning system to account for changes in perturbers of the Earth'"'"'s magnetic field. A mobile device obtains a corrected heading estimate of the mobile device within a space based on a previously recorded heading correction value. The mobile device also calculates a device heading relative to a previously orientated map of the space. The mobile device subsequently updates the heading correction value with any deviation between the corrected heading estimate and the calculated device heading.
15 Citations
20 Claims
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1. A method, comprising steps of:
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capturing, 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 a space; any one signal is modulated within visible light transmitted by a respective one visible light source; and each modulated signal corresponds to a respective identity of a respective visible light source; processing the one or more images to determine, based at least in part on the at least one modulated signal, an estimated location of the mobile device within the space; capturing, via a compass of the mobile device, a raw heading measurement; obtaining a corrected heading estimate based at least in part on the raw heading measurement; determining a likely orientation of the mobile device relative to a map of the space; comparing the corrected heading estimate and the likely orientation of the mobile device relative to the map of the space to obtain an apparent deviation; and recording the apparent deviation in association with the estimated location of the mobile device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method, comprising steps of:
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receiving, from a first mobile device located at a first pre-defined location within a space, an indicator of the first pre-defined location and a first apparent deviation for the first pre-defined location within the space, the first apparent deviation being a deviation between a corrected heading estimate of the first mobile device at the first pre-defined location and a likely orientation of the first mobile device at the first pre-defined location; updating, based on the first apparent deviation for the first pre-defined location, a deviation angle previously stored in association with the first pre-defined location; receiving, from a second mobile device located at the first pre-defined location, the indicator of the first pre-defined location and a second apparent deviation for the first pre-defined location, the second apparent deviation being a deviation between a corrected heading estimate of the second mobile device at the first pre-defined location and a likely orientation of the second mobile device at the first pre-defined location; and updating, based on the second apparent deviation for the first pre-defined location, the updated deviation angle. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A system, comprising:
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a server platform, comprising; a memory; a network interface; a processor coupled to the network interface and the memory; and server code stored in the memory; and a non-transitory tangible computer readable medium embodying client code for execution by a processor of a mobile device, wherein execution of the client code configures the mobile device to implement functions, including mobile device functions to; capture, via an image sensor of the 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 a space; any one signal is modulated within visible light transmitted by a respective one visible light source; and each modulated signal corresponds to a respective identity of a respective visible light source; process the one or more images to determine, based at least in part on the at least one modulated signal, an estimated location of the mobile device within the space; capture, via a compass of the mobile device, a raw heading measurement; obtain a corrected heading estimate based at least in part on the raw heading measurement; determine a likely orientation of the mobile device relative to a map of the space; compare the corrected heading estimate and the likely orientation of the mobile device relative to the map of the space to obtain an apparent deviation; and transmit, via a network interface of the mobile device and to the server platform, the apparent deviation and the estimated location of the mobile device; and wherein execution of the server code configures the server platform to implement functions, including server functions to; receive, from the mobile device, the apparent deviation and the estimated location of the mobile device; and update, based on the apparent deviation, a previously stored deviation angle. - View Dependent Claims (18, 19, 20)
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Specification