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1. 发明授权

US10111197B2 Generating and using a location fingerprinting map 有权
公开(公告)号：US10111197B2
公开(公告)日：2018-10-23
申请号：US14355606
申请日：2012-10-30
申请人： Shai Ronen
发明人： Shai Ronen
IPC分类号： H04W24/00 , H04W64/00 , G01S5/02 , H04W4/02
摘要： A computerized method for building a multisensory location map, the method may include: receiving, by an interface, multiple multisensory data vectors acquired by multiple mobile devices at multiple locations and location estimates indicative of the multiple locations; wherein at least a majority of the multiple locations are located within an area in which a granularity of global positioning system (GPS) based navigation is below an allowable threshold; wherein the location estimates are at least partially generated by internal navigation systems of the multiple mobile devices; and calculating, by a map calculator, in response to the multiple multisensory data vectors and the location estimates, a location fingerprinting map that comprises multiple grid points, wherein each grid point comprises a multisensory grid point fingerprint and grid point location information.

2. 发明授权

US11044690B2 Generating and using a location fingerprinting map 有权
公开(公告)号：US11044690B2
公开(公告)日：2021-06-22
申请号：US16702112
申请日：2019-12-03
申请人： NAVIN SYSTEMS LTD.
发明人： Shai Ronen
IPC分类号： H04W24/00 , H04W64/00 , G01S5/02 , H04W4/02
摘要： The present invention discloses, inter alia, a computerized system for building a multisensory location map, the system comprising an interface for receiving multiple multisensory data vectors acquired by multiple mobile devices at multiple locations and accelerometer readings obtained upon movement of at least one device carried by at least one user between the multiple locations; at least a portion of said movement being walking; at least a majority of the multiple locations are located within an area in which an accuracy of global positioning system (GPS) based navigation is below an allowable threshold; and a processor, interconnected with said interface, with accelerometers, a magnetometer and a map calculator, configured for: extracting, out of accelerometer readings, accelerometer information related to multiple walking phases of the walking; for at least two of said multiple walking phases, real-time correcting a currently measured Z vector, and a pitch angle and a roll angle thereof, thereby compensating for horizontal accelerations, thereby obtaining a Z vector pointing toward Earth's center; calculating, from said Z vector pointing toward earth's center, a surface parallel to Earth's face (perpendicular to said Z vector pointing toward earth's center); estimating, from said surface parallel to Earth's face and from a magnetic north measured by at least one built-in magnetometer in said at least one device, an offset selected from a group consisting of: an azimuth offset from magnetic north and a heading offset from geometric north; processing the accelerometer information related to said at least two of said multiple walking phases to determine a direction of propagation of the at least one user and correcting said direction of propagation based on said offset; and estimating, from said corrected direction of propagation, at least one location of said at least one user; and the map calculator calculating, in response to the multiple multisensory data vectors and said at least one estimated location, a location fingerprinting map that comprises multiple grid points; each of the multiple grid points comprising a multisensory grid point fingerprint and grid point location information derivable from said at least one estimated location.

3. 发明授权

US10278154B2 Computerized method for building a multisensory location map 有权
公开(公告)号：US10278154B2
公开(公告)日：2019-04-30
申请号：US15899929
申请日：2018-02-20
申请人： Navin Systems Ltd.
发明人： Shai Ronen
IPC分类号： H04W24/00 , H04W64/00 , G01S5/02 , H04W4/02
摘要： A computerized method for building a multisensory location map, the method may include: receiving, by an interface, multiple multisensory data vectors acquired by multiple mobile devices at multiple locations and location estimates indicative of the multiple locations; wherein at least a majority of the multiple locations are located within an area in which a granularity of global positioning system (GPS) based navigation is below an allowable threshold; wherein the location estimates are at least partially generated by internal navigation systems of the multiple mobile devices; and calculating, by a map calculator, in response to the multiple multisensory data vectors and the location estimates, a location fingerprinting map that comprises multiple grid points, wherein each grid point comprises a multisensory grid point fingerprint and grid point location information.

4. 发明授权

US10531422B2 Computerized method for building a multisensory location map 有权
公开(公告)号：US10531422B2
公开(公告)日：2020-01-07
申请号：US16355826
申请日：2019-03-17
申请人： NAVIN SYSTEMS LTD.
发明人： Shai Ronen
IPC分类号： H04W24/00 , H04W64/00 , G01S5/02 , H04W4/02
摘要： The present invention discloses, inter alia, a computerized system for building a multisensory location map, the system comprising an interface for receiving multiple multisensory data vectors acquired by multiple mobile devices at multiple locations and accelerometer readings obtained upon movement of at least one device carried by at least one user between the multiple locations; at least a portion of said movement being walking; at least a majority of the multiple locations are located within an area in which an accuracy of global positioning system (GPS) based navigation is below an allowable threshold; and a processor, interconnected with said interface, with accelerometers, a magnetometer and a map calculator, configured for: extracting, out of accelerometer readings, accelerometer information related to multiple walking phases of the walking; for at least two of said multiple walking phases, real-time correcting a currently measured Z vector, and a pitch angle and a roll angle thereof, thereby compensating for horizontal accelerations, thereby obtaining a Z vector pointing toward Earth's center; calculating, from said Z vector pointing toward earth's center, a surface parallel to Earth's face (perpendicular to said Z vector pointing toward earth's center); estimating, from said surface parallel to Earth's face and from a magnetic north measured by at least one built-in magnetometer in said at least one device, an offset selected from a group consisting of: an azimuth offset from magnetic north and a heading offset from geometric north; processing the accelerometer information related to said at least two of said multiple walking phases to determine a direction of propagation of the at least one user and correcting said direction of propagation based on said offset; and estimating, from said corrected direction of propagation, at least one location of said at least one user; and the map calculator calculating, in response to the multiple multisensory data vectors and said at least one estimated location, a location fingerprinting map that comprises multiple grid points; each of the multiple grid points comprising a multisensory grid point fingerprint and grid point location information derivable from said at least one estimated location.

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