US Pat. No. 10,075,935

METHOD AND SYSTEM FOR POSITIONING STATE TRANSITION

MAPSTED CORP., Markham, ...

1. A method for detecting a transition in positioning state of a mobile device having a processor and a memory, the method comprising:monitoring, based at least in part on global positioning system (GPS) data of the mobile device, for a positioning state of the mobile device as one of an indoor and an outside location relative to an indoor facility;
detecting, via one or more sensors of the mobile device, ambient data;
determining respective weightings for the ambient data and the GPS data, the ambient data including one or more of received signal strength data and signal connectivity data, wherein the respective weightings for at least one of the signal strength data and the signal connectivity data are assigned, by the processor, based on a degree of signal coverage established according to fingerprint data of a fingerprint map for the indoor facility; and
detecting, by the processor, a transition in positioning state of the mobile device from one of the indoor and the outside locations to another of the indoor and the outside locations when a weighted sum value based at least in part on the respective weightings is one of above and below a predetermined state transition value.

US Pat. No. 9,838,850

SYSTEMS AND METHODS FOR DETERMINING INDOOR LOCATION AND FLOOR OF A MOBILE DEVICE

MAPSTED CORP., Markham, ...

1. A method of determining a floor and location of a device within an indoor space having multiple floors, the device having
a processor and a memory, the method comprising:
gathering, using the processor and the memory, device Wi-Fi data and device Bluetooth data, the Wi-Fi and Bluetooth data including
respective Wi-Fi and Bluetooth received signal strength measured values;

determining at least one candidate location of the device for each floor of the multiple floors of the indoor space based
at least on the device Wi-Fi data and the device Bluetooth data;

determining a most likely location of the device for each floor by combining the at least one candidate location for each
floor with step module data and anticipation module data; and

determining the floor and location of the device from the most likely location of the device for each floor and the device
movement history.

US Pat. No. 9,906,914

SCALABLE INDOOR NAVIGATION AND POSITIONING SYSTEMS AND METHODS

MAPSTED CORP., Markham, ...

1. A method of determining a position of a device within an indoor location, comprising:
gathering device signal data, the device signal data including at least one of Wi-Fi data, Bluetooth data, GPS data and cellular
data;

gathering device sensor data from at least one of a set of device sensors including an accelerometer, a gyroscope and a magnetometer;
estimating a plurality of potential trajectories describing a movement of the device through the indoor location as a sequence
of positions based on the device signal data, a fingerprint map calibrated for the indoor location, and by determining, from
the device sensor data, a device direction of travel angle subject to a misalignment correction based on monitoring at least
one of a device sensor drift and a device sensor bias factors, wherein the fingerprint map comprises a plurality of fingerprint
locations, each of the plurality of fingerprint locations having at least one associated device signal data value or device
sensor data value; and

determining the position of the device based on a data fusion of the estimated plurality of potential trajectories, the data
fusion based at least in part upon a probabilistic weighting for respective ones of the estimated plurality of potential trajectories.

US Pat. No. 9,961,508

SYSTEMS AND METHODS FOR DETERMINING INDOOR LOCATION AND FLOOR OF A MOBILE DEVICE

MAPSTED CORP., Markham, ...

1. A method of determining a floor and location of a device within an indoor space having multiple floors, the device having a processor and a memory, the method comprising:gathering, using the processor and the memory, at least one wireless signal data, the at least one wireless signal data including a respective received signal strength measured value;
determining at least one candidate location of the device for each floor of the multiple floors of the indoor space based on the at least one wireless signal data; and
determining the floor and location of the device based on the at least one candidate location of the device for each floor and at least one of a map constraint feature and a heading determined in accordance with device sensor data.

US Pat. No. 10,171,966

CROWD-SOURCED PASSIVE POSITIONING AND CALIBRATION

MAPSTED CORP., Mississau...

1. A method for deploying a positioning map of an area, the method executed in a processor of a server computing device and comprising:generating, using the processor, a distribution of positioning data points based at least in part on a first set of fingerprint data, the positioning data points calibrated in accordance with respective positions within the area;
receiving, at the memory, a second set of fingerprint data;
processing, using the processor, the second set of fingerprint data and the positioning data points to generate an updated distribution of positioning data points; and
when the updated distribution exceeds a threshold density of positioning data points, deploying the updated distribution as the positioning map of the area.

US Pat. No. 10,003,928

CROWD-SOURCED PASSIVE POSITIONING AND CALIBRATION

MAPSTED CORP., Markham, ...

1. A method for deploying a calibrated positioning map of an area, the method executed in a processor of a server computing device and comprising:receiving, at a memory of the server computing device, a first set of fingerprint data acquired within the area by a plurality of mobile devices;
generating, using the processor, a distribution of calibrated data points based at least in part on the first set of fingerprint data, the calibrated data points representing respective positions within the area;
receiving, at the memory, a second set of fingerprint data acquired by at least one additional mobile device;
processing, using the processor, the second set of fingerprint data and the calibrated data points to generate an updated distribution of calibrated data points; and
when the updated distribution exceeds at least one of a predetermined and a dynamically updated threshold density of calibration data points, deploying the updated distribution as the calibrated positioning map of the area.

US Pat. No. 10,070,270

MOBILE DEVICE LOCALIZATION BASED ON SPATIAL DERIVATIVE MAGNETIC FINGERPRINT

MAPSTED CORP., Markham, ...

1. A method for localizing a mobile device having a processor and a memory, the method comprising:monitoring, using the processor and the memory, mobile device magnetic data along a route being traversed;
deriving, using the processor, from the mobile device magnetic data, a mobile device spatial derivative magnetic signature pattern representing a sequence of positions along the route, the mobile device spatial derivative magnetic signature pattern being derived based on respective absolute magnetic field measurements for at least a pair of contiguous positions in the sequence of positions;
accessing, using the processor, a repository of spatial derivative magnetic fingerprint data having associated respective positions along the route; and
using the processor, localizing the mobile device based at least in part on matching the mobile device spatial derivative magnetic signature pattern with a correlating pattern of the spatial derivative magnetic fingerprint data of the repository.

US Pat. No. 10,123,195

METHOD AND SYSTEM OF CROWD- SOURCED PEDESTRIAN LOCALIZATION

MAPSTED CORP., Mississau...

1. A method of broadcasting crowd-sourced localization data from a mobile device within a pedestrian area, the mobile device including a processor and a memory, the method executed in the processor and comprising:localizing the mobile device by determining an estimated position of the mobile device within the pedestrian area based on accessing fingerprint data of the pedestrian area;
broadcasting, at a first broadcast power level, a localization data packet that includes data of the estimated position to one or more peer mobile devices within the pedestrian area;
determining a confidence level indicative of a degree of accuracy for the estimated position, by fusing probabilistic results of one or more concurrent location estimates; and
continuing the broadcasting at one of: a lower broadcast power level than the first broadcast power level, when it is determined that the confidence level is below a threshold confidence level and a higher broadcast power level than the first broadcast power level when it is determined that the confidence level is of above the threshold confidence level.

US Pat. No. 10,145,701

METHOD AND SYSTEM FOR CROWD-SOURCED NAVIGATION PROFILE OPTIONS

MAPSTED CORP., Mississau...

11. A server computing system for recommending a pedestrian route based on crowd-sourced pedestrian navigation associated with an indoor area, the server computing system comprising:a processor;
a memory storing a set of instructions, the instructions executable in the processor to:
upon receiving a selection of a graphical icon among a set of graphical icons displayed at a graphical user interface (GUI) of a mobile device, ones of the set representing a respective route traversal profile option, the GUI depicting a layout of the indoor area and the graphical icon being indicative of a route within the layout, storing route activity data in association with the selected graphical icon during traversal, by the mobile device, of a route within the layout, wherein the route activity data indicative of information pertaining to user activity during traversal;
adding the route activity data to accumulated route navigation data associated with the selected graphical icon; and
based on a predetermined threshold associated with the adding, deploying the respective route traversal profile option represented by the selected graphical icon, the profile option recommending the pedestrian route based at least in part on the route activity data.

US Pat. No. 10,206,066

METHOD AND SYSTEM FOR SERVER BASED MOBILE DEVICE MONITORING IN CROWD-SOURCED PEDESTRIAN LOCALIZATION

MAPSTED CORP., Mississau...

1. A method of adjusting a radio frequency (RF) broadcast signal power level in a crowd-sourced mobile device localization system in a pedestrian area, the method executed in the processor of a server computing device and comprising:localizing a first mobile device to establish a first estimated position within the pedestrian area, and at least a second mobile devices to establish a second estimated position within the pedestrian area, the localizing being in accordance with fingerprint data of the pedestrian area, wherein the processor receives a localization data packet including the first estimated position broadcasted by the first mobile device at a first broadcast power level and another localization data packet including the second estimated position broadcasted by the at least a second broadcast device at a second broadcast power level;
determining a confidence level for each of the first estimated position and the at least a second estimated position by fusing probabilistic results of one or more concurrent location estimates of a corresponding mobile device, the confidence level being indicative of a degree of accuracy of an estimated position of the corresponding mobile device; and
when the confidence level for at least one of the first estimated position and the at least a second estimated position is above a threshold confidence level, providing an input to increase at least one of the first broadcast power level and the at least a second broadcast power level to the corresponding mobile device, and wherein when the confidence level for at least one of the first estimated position and the at least a second estimated position is below the threshold confidence level, providing an input to the corresponding mobile device to lower at least one of the first broadcast power level and the at least a second broadcast power level, and wherein broadcast power levels corresponding to the first mobile device and the at least a second mobile device are increased and lowered based on a power level budget for the crowd-sourced localization system including the first mobile device and the at least a second mobile device.

US Pat. No. 10,165,407

MAGNETIC LANDMARK METHOD AND SYSTEM FOR DETECTING IN-BUILDING (LOCAL VENUE) THRESHOLD

MAPSTED CORP., Mississau...

1. A method of detecting a transition of a mobile device across an indoor threshold, the method executed in one or more processors and comprising:upon detecting a pattern of magnetic anomaly characteristics associated with a sequence of position changes of the mobile device, extracting the pattern, the pattern indicative of a variation of absolute values of the magnetic measurements in the sequence of position changes along a trajectory of motion of the mobile device;
comparing the extracted pattern with a stored magnetic signature associated with the indoor threshold; and
based on the comparing, inferring that the mobile device is one of transitioning in position and has transitioned in position across the indoor threshold;wherein the indoor threshold is located at an entranceway to a local venue within a building, and the pattern of magnetic anomaly characteristics is at least partly caused by at least one radio frequency identification device.

US Pat. No. 10,165,422

SCALABLE INDOOR NAVIGATION AND POSITIONING SYSTEMS AND METHODS

MAPSTED CORP., Mississau...

1. A method of determining a position of a device, comprising: gathering at least one of device signal data and device sensor data, the device signal data including at least one wireless communication signal data, the device sensor data including at least one of magnetometer data, accelerometer data and gyroscope data; estimating a plurality of potential trajectories describing a movement of the device as a sequence of positions based on the at least one of the device signal data and the device sensor data, a calibrated fingerprint map, and by determining, from the device sensor data, a device direction of travel angle corrected for at least one of a device sensor drift and a device sensor bias factors using a misalignment matrix, wherein the fingerprint map comprises a plurality of fingerprint locations having at least one of associated device signal data values and device sensor data values synchronized for differing data, wherein the plurality of potential trajectories includes a first trajectory determined based on occurrence of a predefined event and a second trajectory determined based at least on past information and present information corresponding at least one of the device signal data and the device sensor data pertaining to the device; andwherein the data fusion produces the best estimate current trajectory based on a weighted average of the estimated plurality of potential trajectories; and
determining the position of the device based on the data fusion of the estimated plurality of potential trajectories, the data fusion producing at least a best estimate current trajectory from the estimated plurality of potential trajectories.

US Pat. No. 10,165,543

METHOD AND SYSTEM FOR MOBILE DEVICE LOCALIZATION IN EXTREME AMBIENT CONDITIONS

MAPSTED CORP., Mississau...

1. A method for localizing a mobile device having a processor and a memory, the method comprising:detecting, using a temperature sensor of the mobile device at a first sampling rate, an ambient temperature anomaly along an indoor route within an indoor facility being traversed;
determining, based on switching to a second sampling rate, that the ambient temperature anomaly persists over a sequence of positions along the indoor route;
filtering a set of barometric ambient pressure measurements contemporaneously associated with the sequence of positions, the set obtained using a barometric pressure sensor of the mobile device; and
localizing the mobile device based at least partly on the filtered set of barometric ambient pressure measurements.

US Pat. No. 10,145,689

METHOD AND SYSTEM OF PEDESTRIAN LOCALIZATION

MAPSTED CORP., Mississau...

1. A method of localizing a mobile device along a pedestrian route traversed in an indoor area, the mobile device including a processor and a memory, the method executed in the processor and comprising:localizing the mobile device to an estimated first position within the indoor area based on accessing, from a first memory tier of the memory, a first portion fingerprint data that includes fingerprint data of a first subset area of the indoor area, the first subset area at least partly surrounding the estimated first position, wherein the fingerprint data comprises a plurality of portions, each of the plurality of portions corresponding to a subset area of the indoor area, and wherein the first memory tier includes the first portion of the plurality of portions of the fingerprint data and a second memory tier of the memory includes one or more of remaining portions of the plurality of portions of the fingerprint data;
detecting a traversal of the mobile device along the route to an estimated second position within the indoor area; and
when a difference between the estimated first and second positions exceeds a threshold distance, replacing the first portion fingerprint data of the first memory tier upon pre-fetching a second portion fingerprint data from the second memory tier, the second portion fingerprint data including fingerprint data of a second subset area of the indoor area, the second subset area at least partly surrounding the estimated second position.

US Pat. No. 10,206,067

METHOD AND SYSTEM FOR SERVER BASED MOBILE DEVICE MONITORING IN CROWD-SOURCED PEDESTRIAN LOCALIZATION

MAPSTED CORP., Mississau...

1. A method of adjusting a radio frequency (RF) broadcast signal power level in a crowd-sourced mobile device localization system in a pedestrian area, the method executed in the processor of a server computing device and comprising:localizing a first mobile device to establish a first estimated position within the pedestrian area, and a second mobile device to establish a second estimated position within the pedestrian area, the localizing being in accordance with fingerprint data of the pedestrian area, wherein the processor receives a localization data packet including the first estimated position broadcasted by the first mobile device at a first broadcast power level and another localization data packet including the second estimated position broadcasted by the second broadcast device at a second broadcast power level; and
based on a degree of accuracy of at least one of the first estimated position and the second estimated position, providing an input to perform at least one of:
increasing the first broadcast power level and lowering the second broadcast power level, and
lowering the first broadcast power level and increasing the second broadcast power level,
wherein the broadcast power levels corresponding to the first mobile device and the second mobile device are increased and lowered according to a power level budget for the crowd-sourced localization system including the first mobile device and the second mobile device.

US Pat. No. 10,197,398

MOBILE DEVICE LOCALIZATION BASED ON SPATIAL DERIVATIVE MAGNETIC FINGERPRINT

MAPSTED CORP., Mississau...

1. A method for localizing a mobile device having a processor and a memory, the method comprising:deriving, using the processor, from mobile device magnetic data obtained along a sequence of positions being traversed, a mobile device spatial derivative magnetic signature pattern, the mobile device spatial derivative magnetic signature pattern derived at least in part based on absolute magnetic field measurements for at least a pair of contiguous positions in the sequence of positions, wherein the mobile device magnetic data comprises a set of magnetic field measurements along the route;
accessing, using the processor, a repository of spatial derivative magnetic fingerprint data; and
using the processor, localizing the mobile device based at least in part on matching the mobile device spatial derivative magnetic signature pattern with a correlating pattern of the spatial derivative magnetic fingerprint data of the repository.

US Pat. No. 10,257,658

SELF-LEARNING LOCALIZATION DATA REPOSITORY

MAPSTED CORP., Mississau...

1. A method of updating a self-learning data repository, the method executed in a processor of a server computing device and comprising:storing, in a memory of the server computing device that constitutes the self-learning data repository, a fingerprint map of an indoor facility, the fingerprint map having positioning fingerprint data that includes magnetic spatial derivative fingerprint data;
receiving, from a mobile device, at the self-learning data repository, at least one of mobile device signal data and mobile device sensor data correlated with a sequence of positions describing a movement of a mobile device along a trajectory within the indoor facility, the sensor data including mobile device magnetic spatial derivative data derived in accordance with a magnetic spatial gradient established based on differences in absolute magnetic field measurements and a spatial separation existing across at least a pair of contiguous positions in the sequence of positions along the trajectory;
compensating, using the processor, for variations in the absolute magnetic measurements of the mobile device by performing a spatial shifting of at least one of the mobile device magnetic spatial derivative data and the magnetic spatial derivative fingerprint data of the self-learning data repository for at least a segment of the trajectory within the indoor facility to create updated mobile device sensor data, wherein the spatial shifting increases a coincidence in overlay of the mobile device magnetic spatial derivative data and the magnetic spatial derivative fingerprint data for the segment of the trajectory; and
automatically updating, using the processor, the self-learning data repository by adding at least one of the mobile device signal data and the updated mobile device sensor data to the positioning fingerprint data.

US Pat. No. 10,247,564

METHOD AND SYSTEM FOR CROWD-SOURCED NAVIGATION PROFILE OPTIONS

MAPSTED CORP., Mississau...

1. A method of recommending a pedestrian route based on crowd-sourced pedestrian navigation associated with an indoor area, the method comprising:receiving an input, from a mobile device, selecting a graphical icon from a set of graphical icons representing a respective route traversal profile option;
obtaining route activity data in association with the selected graphical icon during traversal of the route, the route activity data indicative of information pertaining to user activity along a trajectory describing the traversal of the mobile device in the indoor area; and
deploying the respective route traversal profile option represented by the selected graphical icon, the profile option recommending the pedestrian route based at least in part on the route activity data.

US Pat. No. 10,249,116

METHOD AND SYSTEM FOR MOBILE DEVICE LOCALIZATION-BASED ACCESS

MAPSTED CORP., Mississau...

1. A method of facilitating a request for access, the method executed in a processor of a server computing device and comprising:receiving, at a memory of the server computing device, the request for access, the request for access performed using a security device at an access point device communicatively coupled to the server computing device, wherein the access point device induces a characteristic magnetic signature unique to a location of the access point device, the characteristic magnetic signature including a magnetic spatial derivative signature calculated based on a plurality of magnetic field measurements corresponding to a sequence of positions along a trajectory of a mobile computing device proximate the access point device, and wherein magnetic spatial derivative signature captures the relative changes in magnetic field as the mobile device traverses a route proximate access point device;
localizing the mobile computing device having a preestablished association with the security device, based on the characteristic magnetic signature; and
enabling the request for access when a position of the mobile computing device as determined from the localizing is within a predetermined threshold distance from the location of the access point device.