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

摘要

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.

主权项

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.