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

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 comprising:

a magnetic field value corrector configured to correct the measured magnetic field value based on the acceleration value and the gyro value, and

a first position estimator configured 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 magnetic field value corrector comprises:

a tilt error calculator configured to determine a tilt error of the mobile terminal based on the acceleration value and the gyro value; and

a magnetic field value correction implementer configured 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 comprises:

a first direction information generator configured to generate first direction information based on the measured magnetic field value and the acceleration value;

a second direction information generator configured to generate second direction information based on the acceleration value and the gyro value; and

a direction information weight setting unit configured to set a direction information weight based on the first direction information and the second direction information.

6. The mobile terminal of claim 5 , wherein the direction information weight setting unit is further configured to:

subtract a variance of the second direction information from a variance of the first direction information to determine a first value;

set the direction information weight to the second direction information if the first value is greater than a predetermined threshold value;

subtract the variance of the first direction information from the variance of the second direction information to determine a second value; and

set the direction information weight to the first direction information if the second value is greater than the predetermined threshold value.

7. The mobile terminal of claim 5 , wherein the processor further comprises:

a travel distance calculator configured to determine a travel distance of the mobile terminal based on the acceleration value; and

a second position estimator configured to determine the position of the mobile terminal based on the magnetic field map, the measured magnetic field value, the direction information weight, and the travel distance.

8. The mobile terminal of claim 1 , wherein the processor comprises:

a direction information generator configured to set direction information weight of the mobile terminal based on the corrected magnetic field value, the acceleration value, and the gyro value;

a travel distance calculator configured to determine a travel distance of the mobile terminal based on the acceleration value; and

a third position estimator configured to determine the position of the mobile terminal based on the magnetic field map, the corrected magnetic field value, the direction information weight, and the travel distance.

9. 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.

10. A positioning method for a magnetic field map-based positioning system, comprising:

determining a magnetic field map comprising magnetic field values at positions;

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 the magnetic field map and the corrected magnetic field value.

11. The method of claim 10 , wherein the gyro value comprises a rotation value and an orientation value of the mobile terminal.

12. The method of claim 10 , 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.

13. The method of claim 12 , wherein the tilt error comprises a pitch, a roll, and a yaw of the mobile terminal.

14. The method of claim 10 , wherein the determining of the position of the mobile terminal comprises:

generating first direction information based on the measured magnetic field value and the acceleration value;

generating second direction information based on the acceleration value and the gyro value; and

setting a direction information weight based on the first direction information and the second direction information.

15. The method of claim 14 , wherein setting the direction information weight comprises:

subtracting a variance of the second direction information from a variance of the first direction information to determine a first value;

setting the direction information weight to the second direction information if the first value is greater than a predetermined threshold value;

subtracting the variance of the first direction information from the variance of the second direction information to determine a second value; and

setting the direction information weight to the first direction information if the second value is greater than the predetermined threshold value.

16. The method of claim 14 , wherein the determining of the position of the mobile terminal further comprises:

determining a travel distance of the mobile terminal based on the acceleration value; and

determining the position of the mobile terminal based on the magnetic field map, the measured magnetic field value, the direction information weight, and the travel distance.

17. The method of claim 10 , wherein the determining of the position of the mobile terminal comprises:

setting direction information weight of the mobile terminal based on the corrected magnetic field value, the acceleration value, and the gyro value;

determining a travel distance of the mobile terminal based on the acceleration value; and

determining the position of the mobile terminal based on the magnetic field map, the corrected magnetic field value, the direction information weight, and the travel distance.

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