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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：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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Patent Agency Ranking
34.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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35.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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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。
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37.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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38.发明申请公开(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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