MAGNETIC FIELD MAPPING AND INDOOR LOCATION SENSING

摘要

Aspects of the disclosure relate to location sensing based at least on magnetic measurements within an environment. In certain aspects, the location sensing contemplates several environment and/or operational conditions of an electronic device that conducts the sensing, including soft iron variations, motion characteristic of the device, and/or the elevation of the device. In other aspects, magnetic mappings for the environment can be generated in accordance with one or more of such conditions, and accurate location sensing can be achieved based at least on such mappings and magnetic measurements at a location of the device within the environment.

主权项

1. A method for location sensing, comprising:
accessing, via a magnetic sensor associated with an electronic device, information associated with a magnetic field vector at a predetermined location; accessing, via an inertial sensor associated with the electronic device, information associated with an acceleration vector of the electronic device at the predetermined location; determining if an accuracy of a current estimate of the location of the electronic device is within a tolerance; and in response to positively determining that the accuracy of the current estimate of the location of the electronic device is outside the tolerance, determining a first and a second vector metric associated with the magnetic field vector based at least on the acceleration vector,
normalizing the first and the second vector metric and a group of historical vector metrics representative of historical magnetic field vectors, anddetermining a current position estimate of the electronic device based at least on the normalized metrics.