Mobile terminal device for positioning system based on magnetic field map and method thereof

Patent metadata

Field	Value
Publication number	US-9453932-B2
Application number	US-201514847640-A
Country	US
Kind code	B2
Filing date	Sep 8, 2015
Priority date	Dec 7, 2011
Publication date	Sep 27, 2016
Grant date	Sep 27, 2016

Abstract

A mobile terminal device for a positioning system based on a magnetic field map and a method thereof, are provided. The mobile terminal includes a memory configured to store a magnetic field map including magnetic field values at positions. The mobile terminal further includes a magnetic field sensor configured to measure a magnetic field value at a position of the mobile terminal. The mobile terminal further includes an inertial measurement unit (IMU) sensor configured to measure an acceleration value and a gyro value of the mobile terminal. The mobile terminal further includes a processor configured to determine the position of the mobile terminal based on the magnetic field map, the magnetic field value, the acceleration value, and the gyro value.

First claim

What is claimed is:

1. A mobile terminal for a magnetic field map-based positioning system, comprising:
a memory configured to store a magnetic field map comprising magnetic field values at positions;
a magnetic field sensor configured to measure a magnetic field value at a position of the mobile terminal;
an inertial measurement unit (IMU) sensor configured to measure an acceleration value and a gyro value of the mobile terminal; and
a processor configured to correct the measured magnetic field value based on the acceleration value and the gyro value and to determine the position of the mobile terminal based on the magnetic field map and the corrected magnetic field value.

2. The mobile terminal of claim 1 , wherein the gyro value comprises a rotation value and an orientation value of the mobile terminal.

3. The mobile terminal of claim 1 , wherein the processor is further configured to determine a tilt error of the mobile terminal based on the acceleration value and the gyro value and to correct the measured magnetic field value based on the tilt error.

4. The mobile terminal of claim 3 , wherein the tilt error comprises a pitch, a roll, and a yaw of the mobile terminal.

5. The mobile terminal of claim 1 , wherein the processor is further configured to determine the position of the mobile terminal based on a particle filter, or a Kalman filter, or Markov localization, or any combination thereof.

6. A positioning method for a magnetic field map-based positioning system, comprising:
measuring a magnetic field value at a position of a mobile terminal;
measuring an acceleration value and a gyro value of the mobile terminal;
correcting the measured magnetic field value based on the acceleration value and the gyro value; and
determining the position of the mobile terminal based on a magnetic field map comprising magnetic field values at positions and the corrected magnetic field value.

7. The method of claim 6 , wherein the gyro value comprises a rotation value and an orientation value of the mobile terminal.

8. The method of claim 6 , wherein correcting the magnetic field value comprises:
determining a tilt error of the mobile terminal based on the acceleration value and the gyro value; and
correcting the measured magnetic field value based on the tilt error.

9. The method of claim 8 , wherein the tilt error comprises a pitch, a roll, and a yaw of the mobile terminal.

10. A non-transitory computer-readable storage medium storing a program comprising instructions to implement the method of claim 6 .

11. A mobile terminal for a magnetic field map-based positioning system, comprising:
a memory configured to store a magnetic field map comprising magnetic field values at positions;
a magnetic field sensor configured to measure a magnetic field value at a position of the mobile terminal;
an inertial measurement unit (IMU) sensor configured to measure an acceleration value and a gyro value of the mobile terminal; and
a processor configured to determine the position of the mobile terminal based on the magnetic field map, the measured magnetic field value, the acceleration value and the gyro value.

Assignees

• Samsung Electronics Co Ltd

Inventors

• Kim Yong
• Kim Eung Sun
• Yoon Ji Hyun

Classifications

• G01V3/08 Primary

  operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices (with electromagnetic waves G01V3/12) · CPC title

• G01C21/206 Primary

  specially adapted for indoor navigation · CPC title

• G01C21/005

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title

• G01C21/18

  Stabilised platforms, e.g. by gyroscope · CPC title

• H04W24/00

  Supervisory, monitoring or testing arrangements · CPC title