Method and system for magnetic-based indoor vehicle positioning
OwnerGennadii Berkovich, Dmitry Churikovinventors
Life of this patent
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Abstract
Vehicle position is determined using magnetic field measurements within an indoor environment. Magnetic field measurements and sensor information are obtained from the vehicle and magnetic map information is obtained for the indoor environment. Parameters of vehicle motion are derived from the sensor information. The magnetic field measurements are processed to mitigate vehicular interference and then compensated for a magnetometer bias induced at least in part by the vehicle. Vehicle position is determined based at least in part on the compensated magnetic field magnetic measurements, the magnetic map information and the parameters of vehicle motion.
Claims21
A method for determining vehicle position within an indoor environment, the method comprising:
- a) obtaining magnetic field measurements from a magnetometer associated with the vehicle;
- b) obtaining sensor information from a motion sensor associated with the vehicle;
- c) obtaining, from a server, magnetic map information for the indoor environment;
- d) deriving parameters of vehicle motion from the sensor information;
- e) processing the magnetic field measurements to mitigate electromagnetic vehicular interference created by electric equipment of the vehicle;
- f) compensating the processed magnetic field measurements for a magnetometer bias induced at least in part by the vehicle and its ferromagnetic load;
- and
- g) determining vehicle position based at least in part on the compensated magnetic field measurements, the magnetic map information and the parameters of vehicle motion.
A device for determining vehicle position within an indoor environment, comprising at least one processor configured to:
- a) obtain magnetic field measurements from a magnetometer associated with the vehicle;
- b) obtain sensor information from a motion sensor associated with the vehicle;
- c) obtain, from a server, magnetic map information for the indoor environment;
- d) derive parameters of vehicle motion from the sensor information;
- e) process the magnetic field measurements to mitigate electromagnetic vehicular interference created by electric equipment of the vehicle;
- f) compensate the processed magnetic field measurements for a magnetometer bias induced at least in part by the vehicle and its ferromagnetic load;
- and
- g) determine vehicle position based at least in part on the compensated magnetic field measurements, the magnetic map information and the parameters of vehicle motion.
A system for determining vehicle position within an indoor environment, comprising:
- a) a server providing magnetic map information for the indoor environment;
- and
- b) at least one processor configured to:
- i) obtain magnetic field measurements from a magnetometer associated with the vehicle;
- ii) obtain sensor information from a motion sensor associated with the vehicle;
- iii) derive parameters of vehicle motion from the sensor information;
- iv) process the magnetic field measurements to mitigate electromagnetic vehicular interference created by electric equipment of the vehicle;
- v) compensate the processed magnetic field measurements for a magnetometer bias induced at least in part by the vehicle and its ferromagnetic load;
- and
- vi) determine vehicle position based at least in part on the compensated magnetic field measurements, the magnetic map information and the parameters of vehicle motion.
Dependencies are inferred from the claim text.