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：US11989828B2

公开(公告)日：2024-05-21

申请号：US17475935

申请日：2021-09-15

Applicant: TRX Systems, Inc.

Inventor： Travis Young ,  Daniel Hakim ,  Daniel Franchy ,  Jared Napora ,  John Karvounis ,  Jonathan Fetter Degges ,  Tim Wang ,  Benjamin Funk ,  Carole Teolis ,  Carol Politi ,  Stuart Woodbury

IPC: G06T17/05 ,  G01C21/00 ,  G06F30/13

CPC classification number: G06T17/05 ,  G01C21/3867 ,  G06F30/13

Abstract: Systems, methods and instructions for creating building models of physical structures is disclosed. The building model may be a collection of floors defined by outlines containing regions that may be offset relative to a main region, and a collection of connectors. Connectors may have connection points for tracking, routing and sizing. Connectors may indicate elevation changes through georeferenced structural features. Signal elements may also be features that provide corrections when tracking. Feature descriptors are data that describes the structural configuration and signal elements enabling them to be matched to previously collected data in a database. User interface elements assist a user of a tracking device in collecting floor information, structural features and signal features and validating certain collected information based on previously known information. The height of floors may also be inferred based on sensor data from the tracking device.

公开(公告)号：US11836857B2

公开(公告)日：2023-12-05

申请号：US17880530

申请日：2022-08-03

Applicant: TRX Systems, Inc.

Inventor： Travis Young ,  Daniel Hakim ,  Daniel Franchy ,  Jared Napora ,  John Karvounis ,  Jonathan Fetter Degges ,  Tim Wang ,  Benjamin Funk ,  Carole Teolis ,  Carol Politi ,  Stuart Woodbury

IPC: G06T17/05 ,  G06F30/13 ,  G01C21/00

CPC classification number: G06T17/05 ,  G01C21/3867 ,  G06F30/13

Abstract: Systems, methods and instructions for creating building models of physical structures is disclosed. The building model may be a collection of floors defined by outlines containing regions that may be offset relative to a main region, and a collection of connectors. Connectors may have connection points for tracking, routing and sizing. Connectors may indicate elevation changes through georeferenced structural features. Signal elements may also be features that provide corrections when tracking. Feature descriptors are data that describes the structural configuration and signal elements enabling them to be matched to previously collected data in a database. User interface elements assist a user of a tracking device in collecting floor information, structural features and signal features and validating certain collected information based on previously known information. The height of floors may also be inferred based on sensor data from the tracking device.

公开(公告)号：US11199412B2

公开(公告)日：2021-12-14

申请号：US16022526

申请日：2018-06-28

Applicant: TRX SYSTEMS, INC.

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

IPC: G01C21/20

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.

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：US08930163B2

公开(公告)日：2015-01-06

申请号：US13827506

申请日：2013-03-14

Applicant: TRX Systems, Inc.

Inventor： Kamiar Kordari ,  Benjamin Funk ,  Jared Napora ,  Ruchika Verma ,  Carole Teolis ,  Travis Young

IPC: G01C22/00 ,  G01P15/00 ,  G01C21/00 ,  G06F17/10

CPC classification number: G01C22/006 ,  G06F17/10

Abstract: A method for detecting a human's steps and estimating the horizontal translation direction and scaling of the resulting motion relative to an inertial sensor is described. When a pedestrian takes a sequence of steps the displacement can be decomposed into a sequence of rotations and translations over each step. A translation is the change in the location of pedestrian's center of mass and a rotation is the change along z-axis of the pedestrian's orientation. A translation can be described by a vector and a rotation by an angle.

Abstract translation: 描述了一种用于检测人的步骤并估计相对于惯性传感器的所得运动的水平平移方向和缩放的方法。 当步行者采取一系列步骤时，可以通过每个步骤将位移分解成一系列旋转和翻译。 翻译是行人中心位置的变化，旋转是沿着行人方向的z轴的变化。 翻译可以通过向量和旋转来描述一个角度。

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：US10571270B2

公开(公告)日：2020-02-25

申请号：US15670881

申请日：2017-08-07

Applicant: TRX SYSTEMS, INC.

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

IPC: G01C21/12 ,  G01S5/02 ,  G01C21/16 ,  G01C21/20 ,  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.

公开(公告)号：US10352707B2

公开(公告)日：2019-07-16

申请号：US15650747

申请日：2017-07-14

Applicant: TRX SYSTEMS, INC.

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

IPC: G01C21/20

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.