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公开(公告)号：US10401168B2
公开(公告)日：2019-09-03
申请号：US15591946
申请日：2017-05-10
Applicant: TRX SYSTEMS, INC.
Inventor： John Karvounis , Jared Napora , Benjamin E. Funk , Dan Hakim , Christopher Giles , Carole Teolis
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.
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公开(公告)号：US10393543B2
公开(公告)日：2019-08-27
申请号：US15649571
申请日：2017-07-13
Applicant: TRX SYSTEMS, INC.
Inventor： Benjamin E. Funk , Dan Hakim , John Karvounis , Travis Young , Carole Teolis
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.
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公开(公告)号：US20170307404A1
公开(公告)日：2017-10-26
申请号：US15649571
申请日：2017-07-13
Applicant: TRX SYSTEMS, INC.
Inventor： Benjamin E. Funk , Dan Hakim , John Karvounis , Travis Young , Carole Teolis
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.
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公开(公告)号：US20170307403A1
公开(公告)日：2017-10-26
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
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.
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Patent Agency Ranking
公开(公告)号：US09671224B2
公开(公告)日：2017-06-06
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
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.
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公开(公告)号：US09664521B2
公开(公告)日：2017-05-30
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
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.
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17.发明申请SYSTEM AND METHOD FOR LOCALIZING A TRACKEE AT A LOCATION AND MAPPING THE LOCATION USING TRANSITIONS 有权用于在位置上定位轨迹并使用转换映射位置的系统和方法公开(公告)号：US20150285636A1
公开(公告)日：2015-10-08
申请号：US14262618
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: G01C21/00
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。
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18.发明授权System and method for localizing a trackee at a location and mapping the location using transitions 有权用于在一个位置处本地化跟踪者的系统和方法，并使用转换映射位置公开(公告)号：US09146113B1
公开(公告)日：2015-09-29
申请号：US14262618
申请日：2014-04-25
Applicant: TRX Systems, Inc.
Inventor： Benjamin E. Funk , Jared Napora , Kamiar Kordari , Ruchika Verma , Amrit Bandyopadhyay , Carole Teolis
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。
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19.发明授权System and method for localizing a trackee at a location and mapping the location using inertial sensor information 有权用于在一个位置定位跟踪者并使用惯性传感器信息映射位置的系统和方法公开(公告)号：US08751151B2
公开(公告)日：2014-06-10
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
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。
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