A system includes at least one sensing unit, the sensing unit including a sensing element. The system includes at least one spatial Lorentz filter coupled to the sensing element. The spatial Lorentz filter (SLF) includes an input coupled to the sensing element and an analog to digital converter (ADC) providing a filtered output signal. The sensing unit is connected to a processor configured for determining velocity or position with respect to a magnetic field and/or a geographic position by processing SLF output signals.

A method for estimating the movement of an object moving in an ambient magnetic field. The method acquires at least one component of the magnetic field and/or an i-th derivative of the magnetic field measures at least one item of information representative of the movement of the object; evaluates the stationary or otherwise character of the magnetic field; estimates at least one component of the movement of the object using at least one equation other than magnetic linking the component of the movement of the object and the at least one acquired item of information representative of the movement of the object depending on the result of the evaluation at least one magnetic equation linking the component of the movement of the object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field.

A method for estimating the movement of an object moving in an ambient magnetic field. The method acquires at least one component of the magnetic field and/or an i-th derivative of the magnetic field measures at least one item of information representative of the movement of the object; evaluates the stationary or otherwise character of the magnetic field; estimates at least one component of the movement of the object using at least one equation other than magnetic linking the component of the movement of the object and the at least one acquired item of information representative of the movement of the object depending on the result of the evaluation at least one magnetic equation linking the component of the movement of the object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field.

A method and system of maintaining a trained neural network for mobile device indoor navigation and positioning. The method comprises, based on magnetic parameters acquired from a plurality of mobile devices acquired at a set of positions within an indoor area, accumulating the magnetic parameters in accordance with a trained neural network-based magnetic fingerprint dataset in a fingerprint database of the indoor area; and when a density of points represented by the set of positions having accumulated magnetic parameters exceeds a deployment threshold density, deploying the magnetic fingerprint dataset within a fingerprint map for mobile device navigation of the indoor area, the fingerprint map encompassing the set of positions.

A method and system of maintaining a trained neural network for mobile device indoor navigation and positioning. The method comprises, based on magnetic parameters acquired from a plurality of mobile devices acquired at a set of positions within an indoor area, accumulating the magnetic parameters in accordance with a trained neural network-based magnetic fingerprint dataset in a fingerprint database of the indoor area; and when a density of points represented by the set of positions having accumulated magnetic parameters exceeds a deployment threshold density, deploying the magnetic fingerprint dataset within a fingerprint map for mobile device navigation of the indoor area, the fingerprint map encompassing the set of positions.

The presently disclosed subject matter includes a method and system directed for calculating azimuth of an airborne platform during flight based on IMU measurements, without using GNSS data, gyrocompassing or magnetometers operating on the ground for determining the azimuth.

A method and system for determining a heading of a vehicle. The method may include receiving, from a mobile computing device, a request for determining the heading of the vehicle. The method may also include retrieving, at least in response to the request, sensor data generated by a magnetometer of the mobile computing device within one or more first time slots, and obtaining a classifier trained to determine a predicted heading of the vehicle. The method may further include, for the sensor data of each of the one or more first time slots, obtaining a feature vector by extracting features from the sensor data, and determining, based on the obtained feature vector, a predicted heading by inputting the feature vector into the classifier. The method may also include determining the heading of the vehicle based on the obtained one or more predicted headings.

A method and system for determining a heading of a vehicle. The method may include receiving, from a mobile computing device, a request for determining the heading of the vehicle. The method may also include retrieving, at least in response to the request, sensor data generated by a magnetometer of the mobile computing device within one or more first time slots, and obtaining a classifier trained to determine a predicted heading of the vehicle. The method may further include, for the sensor data of each of the one or more first time slots, obtaining a feature vector by extracting features from the sensor data, and determining, based on the obtained feature vector, a predicted heading by inputting the feature vector into the classifier. The method may also include determining the heading of the vehicle based on the obtained one or more predicted headings.

Provided is a technique for more accurately calculating a direction to be presented to a guided person using a force sensation presentation device gripped by the guided person, taking into account geomagnetic distortion. A direction calculation apparatus includes a presented direction calculation unit that uses a geomagnetic map including a geomagnetic vector and a gravitational acceleration vector of a reference posture of the force sensation presentation device in a reference coordinate system at a position included in a predetermined range, and uses a first matrix composed of a geomagnetic vector, a gravitational acceleration vector, and an outer product vector of these vectors of the reference posture of the force sensation presentation device in the reference coordinate system at a current position of the force sensation presentation device as well as a second matrix composed of a geomagnetic vector, a gravitational acceleration vector, and an outer product vector of these vectors at a current posture of the force sensation presentation device in the reference coordinate system at the current position of the force sensation presentation device, to calculate, from an instructed force sensation vector in a reference coordinate system indicating a direction to be instructed to the force sensation presentation device, an instructed force sensation vector in a force sensation presentation device coordinate system indicating a direction to be instructed to the force sensation presentation device.

Provided is a technique for more accurately calculating a direction to be presented to a guided person using a force sensation presentation device gripped by the guided person, taking into account geomagnetic distortion. A direction calculation apparatus includes a presented direction calculation unit that uses a geomagnetic map including a geomagnetic vector and a gravitational acceleration vector of a reference posture of the force sensation presentation device in a reference coordinate system at a position included in a predetermined range, and uses a first matrix composed of a geomagnetic vector, a gravitational acceleration vector, and an outer product vector of these vectors of the reference posture of the force sensation presentation device in the reference coordinate system at a current position of the force sensation presentation device as well as a second matrix composed of a geomagnetic vector, a gravitational acceleration vector, and an outer product vector of these vectors at a current posture of the force sensation presentation device in the reference coordinate system at the current position of the force sensation presentation device, to calculate, from an instructed force sensation vector in a reference coordinate system indicating a direction to be instructed to the force sensation presentation device, an instructed force sensation vector in a force sensation presentation device coordinate system indicating a direction to be instructed to the force sensation presentation device.