Granted Patent B1

US 12,656,116 · App. 19/449,199 · Granted Jun 16, 2026

Inventors: Anton Toutov (Magnolia, TX); Alexandre Toutov (Inverary, CA); Michael Quinsey (Montreal, CA); Joseph Quinsey (Windsor, CA)

Assignee: Astra Navigation, Inc.

G01C17/28G01C25/00

Abstract

Claims (89)

1 . A method comprising:

by an electronic device, accessing a magnetic-field map of a region comprising data that represents magnetic-field values that correspond to locations in the region;

by the electronic device, accessing a sample magnetic recording comprising data that represents a time or distance series of magnetic measurements made along a path in the region;

by the electronic device, at least approximately aligning the sample magnetic recording to the magnetic-field map;

by the electronic device, based on the alignment:

generating a first set of parameters for aligning subsequent magnetic recordings to the magnetic-field map across a substantial entirety of the magnetic-field map; and

generating one or more second sets of parameters for aligning subsequent magnetic recordings to the magnetic-field map in one or more subdivisions of the magnetic-field map, wherein each of the second sets of parameters corresponds to one of the subdivisions;

by the electronic device, associating the first and second sets of parameters with the magnetic-field map; and

by the electronic device, providing the magnetic-field map with the first and second sets of parameters associated with it for subsequent navigation.

2 . The method of claim 1 , wherein the region is one-dimensional, two-dimensional, or three-dimensional.

3 . The method of claim 1 , wherein the magnetic recording is at least approximately aligned to the magnetic-field map using one or more of dynamic time warping (DTW), correlated optimized warping (COW), derivative dynamic time warping (DDTW), weighted dynamic time warping (WDTW), soft dynamic time warping (soft-DTW), global alignment kernel (GAK), edit distance with real penalty (ERP), longest common subsequence (LCSS), time-warp edit distance (TWED), or particle filtering.

4 . The method of claim 1 , wherein the first and second sets of parameters are for aligning the subsequent magnetic recordings to the magnetic-field map using one or more of dynamic time warping (DTW), correlated optimized warping (COW), derivative dynamic time warping (DDTW), weighted dynamic time warping (WDTW), soft dynamic time warping (soft-DTW), global alignment kernel (GAK), edit distance with real penalty (ERP), longest common subsequence (LCSS), time-warp edit distance (TWED), or particle filtering.

5 . The method of claim 1 , wherein the first and second sets of parameters comprise one or more of:

a distance metric;

a warping constraint;

a window constraint;

a starting-column index score;

a normalization rule;

a path constraint;

a step pattern;

an error metric;

a sampling parameter;

a runtime constraint; or

a Kalman-filter or Bayesian-optimizer score.

6 . The method of claim 1 , wherein the sample magnetic recording is smoothed according to a sampling rate of the magnetic-field map before alignment to the magnetic-field map.

7 . The method of claim 1 , wherein the first and second sets of parameters are generated using one or more of a non-Kalman query, a Kalman filter, or Bayesian optimization with Gaussian processes.

8 . One or more computer-readable non-transitory storage media embodying software that is operable when executed to:

access a magnetic-field map of a region comprising data that represents magnetic-field values that correspond to locations in the region;

access a sample magnetic recording comprising data that represents a time or distance series of magnetic measurements made along a path in the region;

at least approximately align the sample magnetic recording to the magnetic-field map;

based on the alignment:

generate a first set of parameters for aligning subsequent magnetic recordings to the magnetic-field map across a substantial entirety of the magnetic-field map; and

generate one or more second sets of parameters for aligning subsequent magnetic recordings to the magnetic-field map in one or more subdivisions of the magnetic-field map, wherein each of the second sets of parameters corresponds to one of the subdivisions;

associate the first and second sets of parameters with the magnetic-field map; and

provide the magnetic-field map with the first and second sets of parameters associated with it for subsequent navigation.

9 . The media of claim 8 , wherein the region is one-dimensional, two-dimensional, or three-dimensional.

10 . The media of claim 8 , wherein the magnetic recording is at least approximately aligned to the magnetic-field map using one or more of dynamic time warping (DTW), correlated optimized warping (COW), derivative dynamic time warping (DDTW), weighted dynamic time warping (WDTW), soft dynamic time warping (soft-DTW), global alignment kernel (GAK), edit distance with real penalty (ERP), longest common subsequence (LCSS), time-warp edit distance (TWED), or particle filtering.

11 . The media of claim 8 , wherein the first and second sets of parameters are for aligning the subsequent magnetic recordings to the magnetic-field map using one or more of dynamic time warping (DTW), correlated optimized warping (COW), derivative dynamic time warping (DDTW), weighted dynamic time warping (WDTW), soft dynamic time warping (soft-DTW), global alignment kernel (GAK), edit distance with real penalty (ERP), longest common subsequence (LCSS), time-warp edit distance (TWED), or particle filtering.

12 . The media of claim 8 , wherein the first and second sets of parameters comprise one or more of:

a distance metric;

a warping constraint;

a window constraint;

a starting-column index score;

a normalization rule;

a path constraint;

a step pattern;

an error metric;

a sampling parameter;

a runtime constraint; or

a Kalman-filter or Bayesian-optimizer score.

13 . The media of claim 8 , wherein the sample magnetic recording is smoothed according to a sampling rate of the magnetic-field map before alignment to the magnetic-field map.

14 . The media of claim 8 , wherein the first and second sets of parameters are generated using one or more of a non-Kalman query, a Kalman filter, or Bayesian optimization with Gaussian processes.

15 . A system comprising:

one or more processors; and

one or more computer-readable non-transitory storage media coupled to one or more of the processors and comprising instructions operable when executed by one or more of the processors to cause the system to:

access a magnetic-field map of a region comprising data that represents magnetic-field values that correspond to locations in the region;

access a sample magnetic recording comprising data that represents a time or distance series of magnetic measurements made along a path in the region;

at least approximately align the sample magnetic recording to the magnetic-field map;

based on the alignment:

generate a first set of parameters for aligning subsequent magnetic recordings to the magnetic-field map across a substantial entirety of the magnetic-field map; and

generate one or more second sets of parameters for aligning subsequent magnetic recordings to the magnetic-field map in one or more subdivisions of the magnetic-field map, wherein each of the second sets of parameters corresponds to one of the subdivisions;

associate the first and second sets of parameters with the magnetic-field map; and

provide the magnetic-field map with the first and second sets of parameters associated with it for subsequent navigation.

16 . The system of claim 15 , wherein the region is one-dimensional, two-dimensional, or three-dimensional.

17 . The system of claim 15 , wherein the magnetic recording is at least approximately aligned to the magnetic-field map using one or more of dynamic time warping (DTW), correlated optimized warping (COW), derivative dynamic time warping (DDTW), weighted dynamic time warping (WDTW), soft dynamic time warping (soft-DTW), global alignment kernel (GAK), edit distance with real penalty (ERP), longest common subsequence (LCSS), time-warp edit distance (TWED), or particle filtering.

18 . The system of claim 15 , wherein the first and second sets of parameters are for aligning the subsequent magnetic recordings to the magnetic-field map using one or more of dynamic time warping (DTW), correlated optimized warping (COW), derivative dynamic time warping (DDTW), weighted dynamic time warping (WDTW), soft dynamic time warping (soft-DTW), global alignment kernel (GAK), edit distance with real penalty (ERP), longest common subsequence (LCSS), time-warp edit distance (TWED), or particle filtering.

19 . The system of claim 15 , wherein the first and second sets of parameters comprise one or more of:

a distance metric;

a warping constraint;

a window constraint;

a starting-column index score;

a normalization rule;

a path constraint;

a step pattern;

an error metric;

a sampling parameter;

a runtime constraint; or

a Kalman-filter or Bayesian-optimizer score.

20 . The system of claim 15 , wherein the sample magnetic recording is smoothed according to a sampling rate of the magnetic-field map before alignment to the magnetic-field map.

21 . The system of claim 15 , wherein the first and second sets of parameters are generated using one or more of a non-Kalman query, a Kalman filter, or Bayesian optimization with Gaussian processes.

22 . A system comprising:

means for accessing a magnetic-field map of a region comprising data that represents magnetic-field values that correspond to locations in the region;

means for accessing a sample magnetic recording comprising data that represents a time or distance series of magnetic measurements made along a path in the region;

means for at least approximately aligning the sample magnetic recording to the magnetic-field map;

means for, based on the alignment:

generating a first set of parameters for aligning subsequent magnetic recordings to the magnetic-field map across a substantial entirety of the magnetic-field map; and

generating one or more second sets of parameters for aligning subsequent magnetic recordings to the magnetic-field map in one or more subdivisions of the magnetic-field map, wherein each of the second sets of parameters corresponds to one of the subdivisions;

means for associating the first and second sets of parameters with the magnetic-field map; and

means for providing the magnetic-field map with the first and second sets of parameters associated with it for subsequent navigation.

Assignments (1)

References Cited (64)