Navigation via magnetic field localization with pseudo-random data sequences

A method for providing a local positioning system, comprising:

• providing a plurality of wire coils, each respective wire coil including one or more respective turns of wire, wherein:
• each wire coil is configured to be electrically driven by a respective synchronous electric current carrying a respective train of pseudo-random waveforms;
• and
• for each wire coil, the respective train of pseudo-random waveforms includes a first number of waveform periods and is orthogonal to each other train of pseudo-random waveforms of the wire coils distinct from the respective wire coil;
• and
• providing a receiver system coupled to the plurality of wire coils via a magnetic field of the plurality of wire coils, wherein the receiver system is configured to:
• determine a respective magnetic data vector of the magnetic field in a receiver coordinate system during each waveform period, the first number of waveform periods corresponding to the first number of magnetic data vectors;
• obtain receiver conversion information for converting vectors in the receiver coordinate system into a reference coordinate system;
• obtain a local field map associating each of a plurality of locations in the magnetic field of the wire coils with a respective magnetic vector in a reference coordinate system, each location in the magnetic field of the wire coils including a respective distance and a respective direction represented with reference to the wire coils;
• and
• determine a relative location of the receiver system with reference to the plurality of wire coils using the local field map, a subset of the first number of magnetic data vectors, and the receiver conversion information.

A method for local positioning, comprising:

• at a receiver system coupled in a magnetic field of a plurality of wire coils:
• measuring the magnetic field during each waveform period of a first number of waveform periods;
• determining a respective magnetic data vector of the magnetic field in a receiver coordinate system during each waveform period, the first number of waveform periods corresponding to the first number of magnetic data vectors;
• obtaining receiver conversion information for converting vectors in a receiver coordinate system into a reference coordinate system;
• obtaining a local field map associating each of a plurality of locations in the magnetic field of the wire coils with a respective magnetic vector in the reference coordinate system, each location in the magnetic field of the wire coils including a respective distance and a respective direction represented with reference to the wire coils;
• and
• determining a relative location of the receiver system with reference to the plurality of wire coils using at least the local field map, a subset of the first number of magnetic data vectors, and the receiver conversion information;
• wherein the magnetic field is generated by the plurality of wire coils each of which is driven by a respective synchronous electric current carrying a respective train of pseudo-random waveforms, and for each respective wire coil, the respective train of pseudo-random waveforms includes the first number of waveform periods and is orthogonal to each other train of pseudo-random waveforms of the wire coils distinct from the respective wire coil.