公开(公告)号：US20150285638A1

公开(公告)日：2015-10-08

申请号：US14262627

申请日：2014-04-25

Applicant: TRX Systems, Inc.

Inventor： Benjamin E. Funk ,  Jared Napora ,  Kamiar Kordari ,  Ruchika Verma ,  Amrit Bandyopadhyay ,  Carole Teolis

IPC: G01C21/20 ,  G01S19/13

CPC classification number: G01C21/206 ,  G01C21/00 ,  G01C21/165 ,  G01S19/13 ,  G01S19/39

Abstract: A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self-correct such localizations.

Abstract translation: 提供了一种用于在同时定位和映射操作中识别位置校正的特征的系统和方法，从而促进更长的持续时间导航。 该系统可以检测来自磁性，惯性，GPS，光传感器和/或可以与位置相关联并在重新访问时识别的其它传感器的特征。 特征检测可以在通常便携式的跟踪系统上实现，这可以促进使用更高的采样率数据来更精确地定位特征，当网络通信不可用时改进的跟踪以及跟踪系统作为智能独立的改进的能力 定位系统为更高级别的导航算法/系统提供丰富的输入。 系统可以检测从结构化（例如室内，洞穴等）到非结构化（例如室外）环境和从行人运动到车辆行驶的过渡。 该系统可以包括集成的自我跟踪单元，其可以本地化和自校正这样的定位。

公开(公告)号：US10012502B2

公开(公告)日：2018-07-03

申请号：US15592004

申请日：2017-05-10

Applicant: TRX SYSTEMS, INC.

Inventor： John Karvounis ,  Jared Napora ,  Benjamin E. Funk ,  Dan Hakim ,  Christopher Giles ,  Carole Teolis

IPC: G01C5/00 ,  G01C5/06 ,  G01C21/20

CPC classification number: G01C5/06 ,  G01C5/00 ,  G01C21/206

Abstract: Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

公开(公告)号：US09823068B2

公开(公告)日：2017-11-21

申请号：US15040996

申请日：2016-02-10

Applicant: TRX Systems, Inc.

Inventor： John Karvounis ,  Jared Napora ,  Dan Hakim ,  Carole Teolis ,  John Riley Miller ,  Benjamin E. Funk

IPC: G01C5/06

CPC classification number: G01C5/06

Abstract: A method for determining an environmental pressure change affecting a pressure sensor within a portable device to determine an elevation of the portable device is disclosed. The method involves estimating a location of the mobile device, estimating an atmospheric pressure associated with the mobile device at a server based on data indicative of atmospheric pressure received from the mobile device, and generating the elevation of the mobile device based on the atmospheric pressure associated with the mobile device and reference data indicative of an absolute elevation reference. The absolute elevation determined may be based on the estimated location of the mobile device and elevation data obtained from a reference map.

公开(公告)号：US09739635B2

公开(公告)日：2017-08-22

申请号：US13915998

申请日：2013-06-12

Applicant: TRX Systems, Inc.

Inventor： Benjamin E. Funk ,  Dan Hakim ,  John Karvounis ,  Travis Young ,  Carole Teolis

IPC: G01C25/00 ,  G01C17/38

CPC classification number: G01C25/00 ,  G01C17/38

Abstract: Methods for calibrating a body-worn magnetic sensor by spinning the magnetic sensor 360 degrees to capture magnetic data; if the spin failed to produce a circle contained in an x-y plane fit a sphere to the captured data; determining offsets based on the center of the sphere; and removing the offsets that are in the z-direction. Computing a magnetic heading reliability of a magnetic sensor by determining an orientation of the sensor at one location; transforming the orientation between two reference frames; measuring a first vector associated with the magnetic field of Earth at the location; processing the first vector to generate a virtual vector when a second location is detected; measuring a second vector associated with the magnetic field of Earth at the second location; and calculating the magnetic heading reliability at the second location based on a comparison of the virtual vector and the second vector.

公开(公告)号：US09322648B1

公开(公告)日：2016-04-26

申请号：US14714209

申请日：2015-05-15

Applicant: TRX Systems, Inc.

Inventor： John Karvounis ,  Jared Napora ,  Dan Hakim ,  Carole Teolis ,  John Riley Miller ,  Benjamin E. Funk

IPC: G01C5/06

CPC classification number: G01C5/06

Abstract: A method for determining an environmental pressure change affecting a pressure sensor within a portable device to determine an elevation of the portable device is disclosed. The method involves sampling pressure data from at least one stationary pressure sensor in an area surrounding a location of the device, wherein the stationary pressure sensor in not within the portable device. The sampled pressure data is then interpolated to a time interval and a difference is computed between the interpolated pressure data over each time interval to determine a differential pressure. The location of the stationary pressure sensor is determined and the differential pressure is added to a pressure map affecting data near the location. The environmental pressure change is then computed over any interval at the location and subtracted from a pressure measurement of the pressure sensor before computing an elevation of the portable device.

Abstract translation: 公开了一种用于确定影响便携式设备内的压力传感器以确定便携式设备的高度的环境压力变化的方法。 该方法包括从围绕设备的位置的区域中的至少一个固定压力传感器采样压力数据，其中固定压力传感器不在便携式设备内。 然后将采样的压力数据内插到时间间隔，并且在每个时间间隔之间的内插压力数据之间计算差以确定差压。 确定固定压力传感器的位置，并将压差加到影响位置附近的数据的压力图上。 然后在该位置的任何间隔上计算环境压力变化，并在计算便携式设备的高程之前从压力传感器的压力测量中减去该压力变化。

公开(公告)号：US10598487B2

公开(公告)日：2020-03-24

申请号：US16555731

申请日：2019-08-29

Applicant: TRX SYSTEMS, INC.

Inventor： John Karvounis ,  Jared Napora ,  Benjamin E. Funk ,  Daniel Hakim ,  Christopher Giles ,  Carole Teolis

IPC: G01C5/06 ,  G01C5/00 ,  G01C21/20

Abstract: Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

公开(公告)号：US10393542B2

公开(公告)日：2019-08-27

申请号：US15647004

申请日：2017-07-11

Applicant: TRX SYSTEMS, INC.

Inventor： Benjamin E. Funk ,  Dan Hakim ,  John Karvounis ,  Travis Young ,  Carole Teolis

IPC: G01C25/00 ,  G01C17/38

Abstract: Methods for calibrating a body-worn magnetic sensor by spinning the magnetic sensor 360 degrees to capture magnetic data; if the spin failed to produce a circle contained in an x-y plane fit a sphere to the captured data; determining offsets based on the center of the sphere; and removing the offsets that are in the z-direction. Computing a magnetic heading reliability of a magnetic sensor by determining an orientation of the sensor at one location; transforming the orientation between two reference frames; measuring a first vector associated with the magnetic field of Earth at the location; processing the first vector to generate a virtual vector when a second location is detected; measuring a second vector associated with the magnetic field of Earth at the second location; and calculating the magnetic heading reliability at the second location based on a comparison of the virtual vector and the second vector.

公开(公告)号：US20130332106A1

公开(公告)日：2013-12-12

申请号：US13916024

申请日：2013-06-12

Applicant: TRX Systems, Inc.

Inventor： John Karvounis ,  Jared Napora ,  Benjamin E. Funk ,  Dan Hakim ,  Christopher Giles ,  Carole Teolis

IPC: G01C5/00

CPC classification number: G01C5/06 ,  G01C5/00 ,  G01C21/206

Abstract: Methods and systems are described for determining the elevation of tracked personnel or assets (trackees) that can take input from mounted sensors on each trackee (including barometric, inertial, magnetometer, radio frequency ranging and signal strength, light and GPS sensors), external constraints (including ranging constraints, feature constraints, and user corrections), and terrain elevation data. An example implementation of this method for determining elevation of persons on foot is described. But this method is not limited to computing elevation of personnel or to on foot movements.

Abstract translation: 描述了用于确定跟踪人员或资产（跟踪者）的高度的方法和系统，可以从每个跟踪器上的安装的传感器（包括气压，惯性，磁力计，射频测距和信号强度，光和GPS传感器），外部约束 （包括测距约束，特征约束和用户校正）和地形高程数据。 描述了用于确定步行人员的仰角的该方法的示例性实现。 但这种方法并不限于人员的升高或脚步的运动。

公开(公告)号：US20130332098A1

公开(公告)日：2013-12-12

申请号：US13915998

申请日：2013-06-12

Applicant: TRX Systems, Inc.

Inventor： Benjamin E. Funk ,  Dan Hakim ,  John Karvounis ,  Travis Young ,  Carole Teolis

IPC: G01C25/00

CPC classification number: G01C25/00 ,  G01C17/38

Abstract: Methods for calibrating a body-worn magnetic sensor by spinning the magnetic sensor 360 degrees to capture magnetic data; if the spin failed to produce a circle contained in an x-y plane fit a sphere to the captured data; determining offsets based on the center of the sphere; and removing the offsets that are in the z-direction. Computing a magnetic heading reliability of a magnetic sensor by determining an orientation of the sensor at one location; transforming the orientation between two reference frames; measuring a first vector associated with the magnetic field of Earth at the location; processing the first vector to generate a virtual vector when a second location is detected; measuring a second vector associated with the magnetic field of Earth at the second location; and calculating the magnetic heading reliability at the second location based on a comparison of the virtual vector and the second vector.

Abstract translation: 通过将磁性传感器360度旋转以捕获磁数据来校准身体磨损的磁性传感器的方法; 如果旋转不能产生包含在x-y平面中的圆，将球体拟合到捕获的数据; 根据球体的中心确定偏移量; 并移除在z方向上的偏移。 通过确定传感器在一个位置的方向来计算磁传感器的磁道可靠性; 转换两个参考帧之间的方向; 测量与该地点的磁场有关的第一个矢量; 当检测到第二位置时，处理第一矢量以生成虚拟矢量; 测量与第二位置处的地球的磁场相关联的第二矢量; 以及基于所述虚拟矢量和所述第二矢量的比较来计算所述第二位置处的磁道的可靠性。

公开(公告)号：US20130332064A1

公开(公告)日：2013-12-12

申请号：US13852649

申请日：2013-03-28

Applicant: TRX Systems, Inc.

Inventor： Benjamin E. Funk ,  Jared Napora ,  Kamiar Kordari ,  Ruchika Verma ,  Amrit Bandyopadhyay ,  Carole Teolis

IPC: G01C21/20

CPC classification number: G01C21/206 ,  G01C21/00 ,  G01C21/165 ,  G01S19/13 ,  G01S19/39

Abstract: A system and method for recognizing features for location correction in Simultaneous Localization And Mapping operations, thus facilitating longer duration navigation, is provided. The system may detect features from magnetic, inertial, GPS, light sensors, and/or other sensors that can be associated with a location and recognized when revisited. Feature detection may be implemented on a generally portable tracking system, which may facilitate the use of higher sample rate data for more precise localization of features, improved tracking when network communications are unavailable, and improved ability of the tracking system to act as a smart standalone positioning system to provide rich input to higher level navigation algorithms/systems. The system may detect a transition from structured (such as indoors, in caves, etc.) to unstructured (such as outdoor) environments and from pedestrian motion to travel in a vehicle. The system may include an integrated self-tracking unit that can localize and self-correct such localizations.

Abstract translation: 提供了一种用于在同时定位和映射操作中识别位置校正的特征的系统和方法，从而促进更长的持续时间导航。 该系统可以检测来自磁性，惯性，GPS，光传感器和/或可以与位置相关联并在重新访问时识别的其它传感器的特征。 特征检测可以在通常便携式的跟踪系统上实现，这可以促进使用更高的采样率数据来更精确地定位特征，当网络通信不可用时改进的跟踪以及跟踪系统作为智能独立的改进的能力 定位系统为更高级别的导航算法/系统提供丰富的输入。 系统可以检测从结构化（例如室内，洞穴等）到非结构化（例如室外）环境和从行人运动到车辆行驶的过渡。 该系统可以包括集成的自我跟踪单元，其可以本地化和自校正这样的定位。