Abstract: In a method of maintenance of a location fingerprint database for an area, signal measurement data is collected together with motion sensor data from each of a plurality of portable devices transiting a portion of the area of the location fingerprint database. The motion sensor data is collected by a sensor assembly in each of the plurality of portable devices. Offline non-causal processing is used to process the collected motion sensor data into reference positions associated with the portion of the area. The collected signal measurement data is employed together with the reference positions to update the location fingerprint database.

Abstract: An integrated navigation solution is provided for a device within a moving platform. Motion sensor data from a sensor assembly of the device is obtained, optical samples from at least one optical sensor for the platform are obtained and map information for an environment encompassing the platform is obtained. Correspondingly, an integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique, wherein the nonlinear state estimation technique uses a nonlinear measurement model for optical sensor data. Generating the integrated navigation solution includes using the sensor data with the nonlinear state estimation technique and integrating the optical sensor data directly by updating the nonlinear state estimation technique using the nonlinear measurement model and the map information. The integrated navigation solution is then provided.

Abstract: Vehicle body tilt, representing a difference between a vehicle body frame of reference and a wheel-base frame of reference, is determined by obtaining information from sensor assemblies for the vehicle body and for the wheel-base. Navigational solutions are generated for the sensor assemblies using motion sensor data from the assemblies and absolute navigational information. Correspondingly, vehicle body tilt is determined based at least in part on the vehicle body navigation solution and the wheel-base navigation solution.

Abstract: Feedback for map information is based on an integrated navigation solution for a device within a moving platform using obtained motion sensor data from a sensor assembly of the device, obtained radar measurements for the platform and obtained map information for an environment encompassing the platform. An integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique that uses a nonlinear measurement model for radar measurements. The map information is assessed based at least in part on the integrated navigation solution and radar measurements so that feedback for the map information can be provided.

Abstract: An integrated navigation solution is provided for a device within a moving platform. Motion sensor data is obtained from a sensor assembly of the device, radar measurements for the platform are obtained and map information for an environment encompassing the platform is obtained. Correspondingly, an integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique, wherein the nonlinear state estimation technique uses a nonlinear measurement model for radar measurements. Generating the integrated navigation solution includes using the sensor data with the nonlinear state estimation technique and integrating the radar measurements directly by updating the nonlinear state estimation technique using the nonlinear measurement models and the map information. The integrated navigation solution is then provided.

Abstract: A computer-implemented method of preparing an anonymised dataset for use in data analytics. The method includes the steps of: (a) labelling elements of a dataset to be analysed according to a labelling scheme; (b) selecting one or more labelled elements of the dataset to be replaced with a distance preserving hash; and for each selected element: (c) partitioning a data plane including the selected element into a plurality of channels, each channel covering a different distance space of the data plane; (d) hashing, using a cryptographic hash, data associated with the channel of the data plane in which the selected element resides, to form the distance preserving hash; and (e) replacing the selected element with the distance preserving hash.

Abstract: An integrated navigation solution is provided for a device within a moving platform. Motion sensor data from a sensor assembly of the device is obtained, optical samples from at least one optical sensor for the platform are obtained and map information for an environment encompassing the platform is obtained. Correspondingly, an integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique, wherein the nonlinear state estimation technique uses a nonlinear measurement model for optical sensor data. Generating the integrated navigation solution includes using the sensor data with the nonlinear state estimation technique and integrating the optical sensor data directly by updating the nonlinear state estimation technique using the nonlinear measurement model and the map information. The integrated navigation solution is then provided.

Abstract: Feedback for map information is based on an integrated navigation solution for a device within a moving platform using obtained motion sensor data from a sensor assembly of the device, obtained radar measurements for the platform and obtained map information for an environment encompassing the platform. An integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique that uses a nonlinear measurement model for radar measurements. The map information is assessed based at least in part on the integrated navigation solution and radar measurements so that feedback for the map information can be provided.

Abstract: Vehicle body tilt, representing a difference between a vehicle body frame of reference and a wheel-base frame of reference, is determined by obtaining information from sensor assemblies for the vehicle body and for the wheel-base. Navigational solutions are generated for the sensor assemblies using motion sensor data from the assemblies and absolute navigational information. Correspondingly, vehicle body tilt is determined based at least in part on the vehicle body navigation solution and the wheel-base navigation solution.

Abstract: In a method of maintenance of a location fingerprint database for an area, signal measurement data is collected together with motion sensor data from each of a plurality of portable devices transiting a portion of the area of the location fingerprint database. The motion sensor data is collected by a sensor assembly in each of the plurality of portable devices. Offline non-causal processing is used to process the collected motion sensor data into reference positions associated with the portion of the area. The collected signal measurement data is employed together with the reference positions to update the location fingerprint database.

Abstract: An apparatus and method are disclosed for user and moving vehicle detection in which sensor data for a portable device is processed to determine whether the portable device is in a moving vehicle. Following a determination the portable device is in a moving vehicle, the sensor data is to characterize an association between the user and the portable device to determine whether the portable device is connected to the user. If the user is connected to the portable device, it is then determined if the portable device is being held in hand. If the portable device is held in hand, it is then determined if the user is operating the moving vehicle. Output from an image sensor of the portable device may be used in determining if the user is the operator.

Abstract: An apparatus and method are disclosed for characterizing motion of a platform. Motion sensor data from a portable device having a sensor assembly may be obtained. The portable device may be within the platform and tethered or untethered, and the mobility of the portable device may be constrained or unconstrained within the platform. Following a determination the platform is moving, motion dynamics of the portable device that are independent from motion dynamics of the platform may be identified and motion sensor data corresponding to motion of the platform and motion sensor data corresponding to the identified independent motion of the portable device may be separated from the obtained motion sensor data. Accordingly, motion sensor data corresponding to motion of the platform that is independent of motion of the portable device may be output. This may be used to derive operator analytics for assessing performance.

Abstract: An integrated navigation solution is provided for a device within a moving platform. Motion sensor data is obtained from a sensor assembly of the device, radar measurements for the platform are obtained and map information for an environment encompassing the platform is obtained. Correspondingly, an integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique, wherein the nonlinear state estimation technique uses a nonlinear measurement model for radar measurements. Generating the integrated navigation solution includes using the sensor data with the nonlinear state estimation technique and integrating the radar measurements directly by updating the nonlinear state estimation technique using the nonlinear measurement models and the map information. The integrated navigation solution is then provided.

Abstract: Systems and methods are disclosed for categorizing a device use case for on foot motion with a portable device. Motion sensor data corresponding to motion of the portable device may be obtained, such as from a sensor assembly of the device. The motions sensor data is processed. Further, a use case characteristic may be determined from the processed and/or raw motion sensor data, an effective frequency may be determined from the processed and/or raw motion sensor data and/or an Eigen use case may be determined. The device use case may then be classified using the processed and/or raw motion sensor data and at least one of the use case characteristic, the effective frequency and the Eigen use case.

Abstract: One or more sets of anchor points may be assigned to one or more trajectories of a portable device by scoring each anchor point set with respect to each trajectory. The score for an anchor point set may be determined by cumulating the differences between each anchor point in the set with its closest trajectory segment.

Abstract: An apparatus and method are disclosed for cart navigation using a portable device that is conveyed by the cart, but may be tethered or untethered and wherein mobility of the portable device may be constrained or unconstrained within the cart. The cart may be any apparatus propelled by on foot motion of a user. The portable device may have an integrated sensor assembly integrated with at least one sensor outputting data representing motion of the portable device. From the motion sensor data, it may be determined if the portable device is in a cart motion mode, if the cart is moving and an effective motion frequency for the portable device. Further, the motion sensor data may be reconstructed, a heading misalignment angle calculated and steps taken by the user detected. From this information, dead reckoning for the cart may be performed so that a navigation solution may be provided.

Abstract: The present disclosure relates to a method and apparatus for determining the misalignment between a device and a pedestrian, wherein the pedestrian can carry, hold, or use the device in different orientations in a constrained or unconstrained manner, and wherein the device comprises a sensor assembly. The sensors in the device may be for example, accelerometers, gyroscopes, magnetometers, barometer among others. The sensors have a corresponding frame for the sensors' axes. The misalignment between the device and the pedestrian means the misalignment between the frame of the sensor assembly in the device and the frame of the pedestrian. The present method and apparatus can work whether in the presence or in the absence of absolute navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).

Abstract: A survey for building fingerprint maps for an area may be achieved using map information to generate a grid of nodes and links, then transforming the grid to a directed graph, generating an improved tour that entirely traverses the directed graph and providing at least one survey route based at least in part on the tour to a surveyor that will perform the survey route. The provided survey route may be traversed with at least one device having an integrated sensor assembly that outputs data representing motion of the device and recording signal measurements with each device at a plurality of positions to generate a fingerprint map. The traversal of the provided survey route may be assessed through in-route assessment and/or post-route assessment. Depending on the assessment, the provided survey route may be re-traversed or a next survey route may be scheduled.

Abstract: An apparatus and method are disclosed for characterizing motion of a platform. Motion sensor data from a portable device having a sensor assembly may be obtained. The portable device may be within the platform and tethered or untethered, and the mobility of the portable device may be constrained or unconstrained within the platform. Following a determination the platform is moving, motion dynamics of the portable device that are independent from motion dynamics of the platform may be identified and motion sensor data corresponding to motion of the platform and motion sensor data corresponding to the identified independent motion of the portable device may be separated from the obtained motion sensor data. Accordingly, motion sensor data corresponding to motion of the platform that is independent of motion of the portable device may be output. This may be used to derive operator analytics for assessing performance.

Abstract: An apparatus and method are disclosed for cart navigation using a portable device that is conveyed by the cart, but may be tethered or untethered and wherein mobility of the portable device may be constrained or unconstrained within the cart. The cart may be any apparatus propelled by on foot motion of a user. The portable device may have an integrated sensor assembly integrated with at least one sensor outputting data representing motion of the portable device. From the motion sensor data, it may be determined if the portable device is in a cart motion mode, if the cart is moving and an effective motion frequency for the portable device. Further, the motion sensor data may be reconstructed, a heading misalignment angle calculated and steps taken by the user detected. From this information, dead reckoning for the cart may be performed so that a navigation solution may be provided.