Disclosed herein are methods and systems for fusion of sensor and map data using constraint based optimization. In an embodiment, a computer-implemented method may include obtaining tracking data for a tracked subject, the tracking data including data from a dead reckoning sensor; obtaining constraint data for the tracked subject; and using a convex optimization method based on the tracking data and the constraint data to obtain a navigation solution. The navigation solution may be a path and the method may further include propagating the constraint data by a motion model to produce error bounds that continue to constrain the path over time. The propagation of the constraint data may be limited by other sensor data and/or map structural data.

Transmitting information used to estimate a position of a mobile device. This disclosure describes NEAD-based and external location server (ELS)-based positioning systems and methods that determine when an identifier of a mobile device is not known or when the identifier of the mobile device is known but cannot be detected during a search by reference points, and to then provide a location of a reference point that had previous contact with the mobile device instead of an estimated position of the mobile device. The provided location of the reference point can be used by a location server to generate an estimate of mobile device position.

A mobile computer may determine it is located in a vehicle or a conveyance based on a measured distance, satellite related positioning information, and a touch input.

Disclosed herein are methods and systems for mapping irregular features. In an embodiment, a computer-implemented method may include obtaining tracking data that has dead reckoning tracking data for a tracked subject along a path and performing shape correction on the tracking data to provide a first estimate of the path.

A system includes an information transmission apparatus and a mobile terminal, the information transmission apparatus comprises: transmission means for periodically transmitting identification information used to cause the mobile terminal to display predetermined information; detection means for detecting that the information transmission apparatus has moved; and stopping means for, when the detection means detects that the information transmission apparatus has moved, stopping transmission of the identification information by the transmission means, and the mobile terminal comprises: reception means for receiving the identification information; and display means for displaying information corresponding to the identification information when the reception means receives the identification information.

A system for creating and/or dynamically updating indoor positioning maps includes an augmented reality (AR) device and a computing device communicatively coupled to the AR device. The AR device has a display for displaying AR content to a user that overlaps the AR device's perspective view of an environment. The AR device also has one or more depth sensors for gathering mapping data of physical objects in the environment. The computing device has a processor that is configured by software to create a three-dimensional (3D) indoor positioning map of the environment in a building based on the mapping data gathered by the AR device, and/or dynamically update the 3D indoor positioning map of the environment in the building based on the mapping data gathered by the AR device.

Among other things, one or more techniques and/or systems are provided for locating a position within an enclosure. In one example, known global coordinates (e.g., GPS coordinates of latitude/longitude) associated with the position within the enclosure may be transformed into local coordinates (e.g., x/y coordinates) for the position. The local coordinates may be used for tracking a location of the position within the enclosure. In another example, known local coordinates of the position within the enclosure may be transformed into global coordinates for the position, which may be used for tracking a location of the position within the enclosure. In another example, a blueprint image of the enclosure may be used to track a location of the position within the enclosure. In this way, location tracking may be provided for objects within indoor spaces (e.g., a mapping application may track a current position of a mobile device within a building).

Mapping through crowdsourcing includes determining, using a processor, segments for a plurality of trajectories, wherein each trajectory includes radio frequency (RF) data from a communication device, determining, using the processor, RF features for the segments, and forming, using the processor, clusters of the segments according to the RF features. One or more routes of a map are generated from the clusters using the processor.

A mobile device comprising: i) receive path circuitry configured to detect signals transmitted by a plurality of wall-mounted beacons in a structure in which the mobile device is located, the receive path circuitry further configured to determine a received signal strength indicator (RSSI) value associated with each detected beacon and to determine an identification (ID) value transmitted by each detected beacon; ii) a memory configured to store a floor plan of the structure; and iii) processing circuitry configured to identify a first detected beacon and a second detected beacon mounted on opposing sides of a first wall using the floor plan and the transmitted ID values of the first and second detected beacons. The processing circuitry uses the RSSI value of the first detected beacon and the RSSI value of the second detected beacon to determine if the mobile phone is on the same side of the first wall as the first detected beacon or the second detected beacon.

System and methods and computer program code are provided to perform a commissioning process comprising capturing, using an image capture device, an image of an area containing at least a first fixture, identifying location and positioning information associated with the image, performing image processing of the image to identify a location of the at least first fixture in the image, and converting the location of the at least first fixture in the image into physical coordinate information associated with the at least first fixture.