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    METHODS RESOLVING THE ELEVATION OF A TRACKED PERSONNEL OR ASSETS
    12.
    发明申请
    METHODS RESOLVING THE ELEVATION OF A TRACKED PERSONNEL OR ASSETS 有权
    解决追踪人员或资产的方法的方法

    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。

    COLLABORATIVE CREATION OF INDOOR MAPS
    17.
    发明申请
    COLLABORATIVE CREATION OF INDOOR MAPS 有权
    室内合作创作

    公开(公告)号：US20140278060A1

    公开(公告)日：2014-09-18

    申请号：US14178605

    申请日：2014-02-12

    Applicant: TRX Systems, Inc.

    Inventor： Kamiar Kordari ,  Benjamin Funk ,  Carole Teolis ,  Jared Napora ,  John Karvounis ,  Dan Hakim ,  Christopher Giles ,  Carol Politi

    IPC: G01C21/20

    CPC classification number: G01C21/206

    Abstract: This disclosure provides techniques for the creation of maps of indoor spaces. In these techniques, an individual or a team with no mapping or cartography expertise can contribute to the creation of maps of buildings, campuses or cities. An indoor location system can track the location of contributors in the building. As they walk through indoor spaces, an application may automatically create a map based on data from motion sensors by both tracking the location of the contributors and also inferring building features such as hallways, stairways, and elevators based on the tracked contributors' motions as they move through a structure. With these techniques, the process of mapping buildings can be crowd sourced to a large number of contributors, making the indoor mapping process efficient and easy to scale up.

    Abstract translation: 本公开提供了用于创建室内空间地图的技术。 在这些技术中，没有绘图或制图专业知识的个人或团队可以帮助创建建筑物，校园或城市的地图。 室内定位系统可以跟踪建筑物中贡献者的位置。 当他们穿过室内空间时，应用程序可以通过跟踪贡献者的位置来自动地创建基于运动传感器的数据的地图，并且基于跟踪的贡献者的运动来推断建筑特征，例如走廊，楼梯和电梯，因为它们 移动通过一个结构。 通过这些技术，建筑物映射过程可以大量来源于大量的贡献者，使室内映射过程更加高效，易于扩展。

    Fusion Of Sensor And Map Data Using A Contraint Based Optimization
    18.
    发明申请
    Fusion Of Sensor And Map Data Using A Contraint Based Optimization 有权
    使用基于对比的优化对传感器和地图数据进行融合

    公开(公告)号：US20130332065A1

    公开(公告)日：2013-12-12

    申请号：US13916479

    申请日：2013-06-12

    Applicant: TRX Systems, Inc.

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

    IPC: G01C21/12

    CPC classification number: G01C21/12 ,  G01C21/165 ,  G01C21/206 ,  G01S5/0205 ,  G01S5/0263 ,  G01S5/0268 ,  H04W64/00

    Abstract: Disclosed herein are methods and systems for fusion of sensor and map data using constraint based optimization. In an embodiment, a computer-implemented method may include obtaining tracking data for a tracked subject, the tracking data including data from a dead reckoning sensor; obtaining constraint data for the tracked subject; and using a convex optimization method based on the tracking data and the constraint data to obtain a navigation solution. The navigation solution may be a path and the method may further include propagating the constraint data by a motion model to produce error bounds that continue to constrain the path over time. The propagation of the constraint data may be limited by other sensor data and/or map structural data.

    Abstract translation: 这里公开了使用基于约束的优化来融合传感器和地图数据的方法和系统。 在一个实施例中，计算机实现的方法可以包括获得跟踪对象的跟踪数据，跟踪数据包括来自航位推算传感器的数据; 获得跟踪对象的约束数据; 并使用基于跟踪数据和约束数据的凸优化方法获得导航解。 导航解决方案可以是路径，并且该方法还可以包括通过运动模型传播约束数据以产生继续约束路径随时间变化的误差界限。 约束数据的传播可能受到其他传感器数据和/或地图结构数据的限制。

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