System and method for locating, tracking, and/or monitoring the status of personnel and/or assets both indoors and outdoors

• US 9,008,962 B2
• Filed: 09/14/2012
• Issued: 04/14/2015
• Est. Priority Date: 08/06/2007
• Status: Active Grant

• Current Assignee: TRX Systems, Inc.
• Original Assignee: TRX Systems, Inc.
• Inventors: Bandyopadhyay, Amrit, Hakim, Daniel, Funk, Benjamin E., Kohn, Eric Asher, Teolis, Carole A., Blankenship, Gilmer
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US13/616,408
• Publication Number:
  US 20130166195A1
• Time in Patent Office: 942 Days
• Field of Search: 701/434, 340/539.11, 340/521, 340/573.1
• US Class Current: 701/434
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/3438 Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route
• CPC Class Codes: G01C 21/3626 Details of the output of route guidance instructions traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 5/015 between indoor and outdoor environments
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
• 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 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings
• CPC Class Codes: H04W 64/00 Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

A system and method for locating, tracking, and/or monitoring the status of personnel and/or assets (collectively “trackees”), both indoors and outdoors, is provided. Tracking data obtained from any number of sources utilizing any number of tracking methods may be provided as input to a mapping application. The mapping application generates position estimates for trackees using a suite of mapping tools to make corrections to the tracking data. The mapping application further uses information from building data, when available, to enhance position estimates. Indoor tracking methods including sensor fusion methods, map matching methods, and map building methods may be implemented compute a more accurate tracking estimate for trackees. Outdoor tracking methods may be implemented to enhance outdoor tracking data by combining tracking estimates such as inertial tracks with magnetic and/or compass data if and when available, and with GPS, if and when available.

Claims

1. A computer-implemented method of reducing errors in inertial tracking data, the method being implemented by a computer that includes a physical processor, the method comprising:

obtaining, as input, tracking data for a trackee obtained from inertial sensors, wherein the tracking data includes a collection of tracking points forming a tracking path of the trackee;

dividing the tracking path into segments, each segment having an associated segment line;

generating an input pattern comprising one or more segment lines;

comparing the input pattern to one or more stored base patterns; and

correcting the input pattern by correlating the input pattern to a given base pattern responsive to a determination that the input pattern matches the given base pattern.

2. The method of claim 1, further comprising:

causing the corrected input pattern to be displayed via a graphical user interface associated with the computer.

3. The method of claim 1, wherein the obtained tracking data comprises previously-acquired, stored data.

4. The method of claim 1, wherein a stored base pattern comprises one or more base pattern lines.

5. The method of claim 1, wherein a stored base pattern corresponds to a building feature.

6. The method of claim 5, wherein the building feature comprises at least one of a hallway, room, stairwell, or elevator.

7. The method of claim 1, wherein a stored base pattern corresponds to a known building feature on a building floor plan.

8. The method of claim 1, wherein a stored base pattern corresponds to a tracking path of a second trackee.

9. The method of claim 8, further comprising:

generating a floor plan based on the input pattern corresponding to the tracking path of the trackee and the stored base pattern corresponding to the tracking path of the second trackee.

10. The method of claim 9, further comprising:

causing the floor plan to be displayed via a graphical user interface associated with the computer.

11. The method of claim 1, wherein the input pattern comprises a shape.

12. The method of claim 1, wherein each of the one or more stored base patterns comprises a shape.

13. The method of claim 1, further comprising:

storing the input pattern as a new base pattern responsive to a determination that the input pattern does not match any stored base pattern.

14. A system for reducing errors in inertial tracking data, the system comprising:

a computer processor configured to;

obtain, as input, tracking data for a trackee obtained from inertial sensors, wherein the tracking data includes a collection of tracking points forming a tracking path of the trackee;

divide the tracking path into segments, each segment having an associated segment line;

generate an input pattern comprising one or more segment lines;

compare the input pattern to one or more stored base patterns; and

correct the input pattern by correlating the input pattern to a given base pattern responsive to a determination that the input pattern matches the given base pattern.

15. The system of claim 14, wherein the computer processor is further configured to:

cause the corrected input pattern to be displayed via a graphical user interface associated with the computer.

16. The system of claim 14, wherein the obtained tracking data comprises previously-acquired, stored data.

17. The system of claim 14, wherein a stored base pattern comprises one or more base pattern lines.

18. The system of claim 14, wherein a stored base pattern corresponds to a building feature.

19. The system of claim 18, wherein the building feature comprises at least one of a hallway, room, stairwell, or elevator.

20. The system of claim 14, wherein a stored base pattern corresponds to a known building feature on a building floor plan.

21. The system of claim 14, wherein a stored base pattern corresponds to a tracking path of a second trackee.

22. The system of claim 21, wherein the computer processor is further configured to:

generate a floor plan based on the input pattern corresponding to the tracking path of the trackee and the stored base pattern corresponding to the tracking path of the second trackee.

23. The system of claim 22, wherein the computer processor is further configured to:

cause the floor plan to be displayed via a graphical user interface associated with the computer.

24. The system of claim 14, wherein the input pattern comprises a shape.

25. The system of claim 14, wherein each of the one or more stored base patterns comprises a shape.

26. The system of claim 14, wherein the computer processor is further configured to:

store the input pattern as a new base pattern responsive to a determination that the input pattern does not match any stored base pattern.

27. A computer readable storage medium comprising executable code for reducing errors in inertial tracking data, the computer executable code, when executed by a processor, causing the processor to:

obtain, as input, tracking data for a trackee obtained from inertial sensors, wherein the tracking data includes a collection of tracking points forming a tracking path of the trackee;

divide the tracking path into segments, each segment having an associated segment line;

generate an input pattern comprising one or more segment lines;

compare the input pattern to one or more stored base patterns; and

correct the input pattern by correlating the input pattern to a given base pattern responsive to a determination that the input pattern matches the given base pattern.

28. A computer-implemented method of generating a path estimate of a trackee at a location, the method being implemented by a computer that includes a physical processor, the method comprising:

obtaining, as input, inertial tracking data for the trackee obtained from inertial sensors, wherein the inertial tracking data includes a collection of inertial tracking points forming an inertial tracking path of the trackee, and wherein each inertial tracking point includes at least two-dimensional location coordinates;

obtaining, as input, Global Positioning System (GPS) tracking data for the trackee that is simultaneously collected and time-synchronized with the inertial tracking data, wherein the GPS tracking data includes a collection of GPS data points forming a GPS tracking path of the trackee;

dividing the inertial tracking path into inertial segments of inertial tracking points;

generating, for each inertial segment, a corresponding GPS segment of GPS data points collected during the same time interval as the inertial tracking points forming the inertial segment;

selecting, from among a sequence of inertial segments and GPS segments, a series of GPS/inertial segment pairs;

determining whether an inertial tracking path shape matches a GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs; and

correcting, for at least one of the predetermined number of consecutive GPS/inertial segment pairs, an inertial segment of the GPS/inertial segment pair to the corresponding GPS segment of the GPS/inertial segment pair to generate a fused GPS/inertial path estimate responsive to a determination that the inertial tracking path shape matches the GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs.

29. The method of claim 28, further comprising:

causing the fused GPS/inertial path estimate to be displayed via a graphical user interface associated with the computer.

30. The method of claim 28, wherein the obtained inertial tracking data and GPS tracking data comprises previously-acquired, stored data.

31. The method of claim 28, wherein selecting a series of GPS/inertial segment pairs further comprises:

selecting a GPS/inertial segment pair to be included in the series of GPS/inertial segment pairs when a length of the inertial segment matches the length of the corresponding GPS segment within a predetermined threshold length, and when a compass heading of the inertia segment matches a GPS heading of the GPS segment within a predetermined threshold angle.

32. The method of claim 28, wherein the predetermined number of consecutive GPS/inertial segment pairs is two.

33. The method of claim 32, wherein determining whether an inertial tracking path shape matches a GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs further comprises:

comparing an inertial segment to a corresponding GPS segment in a given GPS/inertial segment pair; and

comparing an inertial segment to a corresponding GPS segment in a preceeding GPS/inertial segment pair of the predetermined number of consecutive GPS/inertial segment pairs.

34. The method of claim 32, wherein determining whether an inertial tracking path shape matches a GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs further comprises:

comparing an inertial segment to a corresponding GPS segment in a given GPS/inertial segment pair; and

comparing an inertial segment to a corresponding GPS segment in a following GPS/inertial segment pair of the predetermined number of consecutive GPS/inertial segment pairs.

35. The method of claim 28 wherein the location is an outdoor location, the method further comprising:

causing the fused GPS/inertial path estimate to be displayed on a map that includes the outdoor location.

36. The method of claim 28, wherein the location is an outdoor location, the method further comprising:

causing the fused GPS/inertial path estimate to be displayed on a map that includes the outdoor location and at least one building outline; and

improving the accuracy of the fused GPS/inertial path estimate by ensuring that the GPS/inertial path estimate does not cross the at least one building outline when the trackee is known to be outdoors.

37. The method of claim 28, further comprising:

removing discontinuities in the fused GPS/inertial path estimate.

38. The method of claim 28, further comprising:

validating the GPS tracking data for the trackee using one or more GPS parameters, wherein the one or more GPS parameters include one or more of dilution of precision, number of satellites used, location of satellites used, or signal strength of satellites used.

39. The method of claim 28, further comprising:

validating the GPS tracking data for the trackee by mapping and analyzing signal strengths from individual satellites.

40. The method of claim 28, further comprising:

determining, based on the received tracking data, when the trackee has transitioned from an outdoor location to an indoor location, wherein the determination is based on one or more of an increase in GPS horizontal dilution of precision (HDOP), a reduction in satellite strength, the absence of GPS, a decrease in signal strength from an outdoor reference point, or an increase in magnetic field variance.

41. A system for generating a path estimate of a trackee at a location, the system comprising:

a computer processor configured to;

obtain, as input, inertial tracking data for the trackee obtained from inertial sensors, wherein the inertial tracking data includes a collection of inertial tracking points forming an inertial tracking path of the trackee, and wherein each inertial tracking point includes at least two-dimensional location coordinates;

obtain, as input, Global Positioning System (GPS) tracking data for the trackee that is simultaneously collected and time-synchronized with the inertial tracking data, wherein the GPS tracking data includes a collection of GPS data points forming a GPS tracking path of the trackee;

divide the inertial tracking path into inertial segments of inertial tracking points;

generate, for each inertial segment, a corresponding GPS segment of GPS data points collected during the same time interval as the inertial tracking points forming the inertial segment;

select, from among a sequence of inertial segments and GPS segments, a series of GPS/inertial segment pairs;

determine whether an inertial tracking path shape matches a GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs; and

correct, for at least one of the predetermined number of consecutive GPS/inertial segment pairs, an inertial segment of the GPS/inertial segment pair to the corresponding GPS segment of the GPS/inertial segment pair to generate a fused GPS/inertial path estimate responsive to a determination that the inertial tracking path shape matches the GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs.

42. The system of claim 41, wherein the computer processor is further configured to:

cause the fused GPS/inertial path estimate to be displayed via a graphical user interface associated with the computer.

43. The system of claim 41, wherein the obtained inertial tracking data and GPS tracking data comprises previously-acquired, stored data.

44. The system of claim 41, wherein the computer processor is further configured to select a series of GPS/inertial segment pairs by:

selecting a GPS/inertial segment pair to be included in the series of GPS/inertial segment pairs when a length of the inertial segment matches the length of the corresponding GPS segment within a predetermined threshold length, and when a compass heading of the inertia segment matches a GPS heading of the GPS segment within a predetermined threshold angle.

45. The system of claim 41, wherein the predetermined number of consecutive GPS/inertial segment pairs is two.

46. The system of claim 45, wherein the computer processor is further configured to determine whether an inertial tracking path shape matches a GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs by:

comparing an inertial segment to a corresponding GPS segment in a given GPS/inertial segment pair; and

comparing an inertial segment to a corresponding GPS segment in a preceeding GPS/inertial segment pair of the predetermined number of consecutive GPS/inertial segment pairs.

47. The system of claim 45, wherein the computer processor is further configured to determine whether an inertial tracking path shape matches a GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs by:

comparing an inertial segment to a corresponding GPS segment in a given GPS/inertial segment pair; and

comparing an inertial segment to a corresponding GPS segment in a following GPS/inertial segment pair of the predetermined number of consecutive GPS/inertial segment pairs.

48. The system of claim 45, wherein the location is an outdoor location, and wherein the computer processor is further configured to:

cause the fused GPS/inertial path estimate to be displayed on a map that includes the outdoor location.

49. The system of claim 41, wherein the location is an outdoor location, and wherein the computer processor is further configured to:

cause the fused GPS/inertial path estimate to be displayed on a map that includes the outdoor location and at least one building outline; and

improve the accuracy of the fused GPS/inertial path estimate by ensuring that the GPS/inertial path estimate does not cross the at least one building outline when the trackee is known to be outdoors.

50. The system of claim 41, wherein the computer processor is further configured to:

remove discontinuities in the fused GPS/inertial path estimate.

51. The system of claim 41, wherein the computer processor is further configured to:

validate the GPS tracking data for the trackee using one or more GPS parameters, wherein the one or more GPS parameters include one or more of dilution of precision, number of satellites used, location of satellites used, or signal strength of satellites used.

52. The system of claim 41, wherein the computer processor is further configured to:

validate the GPS tracking data for the trackee by mapping and analyzing signal strengths from individual satellites.

53. The system of claim 41, wherein the computer processor is further configured to:

determine, based on the received tracking data, when the trackee has transitioned from an outdoor location to an indoor location, wherein the determination is based on one or more of an increase in GPS horizontal dilution of precision (HDOP), a reduction in satellite strength, the absence of GPS, a decrease in signal strength from an outdoor reference point, or an increase in magnetic field variance.

54. A Non-Transitory computer readable storage medium comprising executable code for generating a path estimate of a trackee at a location, the computer executable code, when executed by a processor, causing the processor to:

obtain, as input, inertial tracking data for the trackee obtained from inertial sensors, wherein the inertial tracking data includes a collection of inertial tracking points forming an inertial tracking path of the trackee, and wherein each inertial tracking point includes at least two-dimensional location coordinates;

obtain, as input, Global Positioning System (GPS) tracking data for the trackee that is simultaneously collected and time-synchronized with the inertial tracking data, wherein the GPS tracking data includes a collection of GPS data points forming a GPS tracking path of the trackee;

divide the inertial tracking path into inertial segments of inertial tracking points;

generate, for each inertial segment, a corresponding GPS segment of GPS data points collected during the same time interval as the inertial tracking points forming the inertial segment;

select, from among a sequence of inertial segments and GPS segments, a series of GPS/inertial segment pairs;

determine whether an inertial tracking path shape matches a GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs; and

correct, for at least one of the predetermined number of consecutive GPS/inertial segment pairs, an inertial segment of the GPS/inertial segment pair to the corresponding GPS segment of the GPS/inertial segment pair to generate a fused GPS/inertial path estimate responsive to a determination that the inertial tracking path shape matches the GPS tracking path shape over a predetermined number of consecutive GPS/inertial segment pairs.