Magnetic navigation system operating modes

Abstract

In one embodiment, a method includes collecting magnetic measurement results of a specific geographical area by a magnetic positioning device according to the position and trajectory of the magnetic positioning device; accessing a Global Navigation Satellite System (GNSS) signal status and a network connection status on the magnetic positioning device; determining an operation mode of the magnetic positioning device based on the GNSS signal status and the network connection status; determining based on the operation mode whether to transmit the magnetic measurement results to a server or store them locally on the magnetic positioning device; and performing a positioning mode or a self-localization mode using the operation mode.

Description

[Technical Field]

[0001] FIELD OF THE DISCLOSURE This disclosure relates generally to magnetic mapping and navigation. [Background technology]

[0002] Navigation systems are available in a variety of different architectures for use in different applications, including personal, commercial, and military. Many such systems operate on the Global Navigation Satellite System (GNSS). GNSS is a general term used to describe a network of satellites that can be used to generate position, navigation, and timing (PNT) data sets. The Global Positioning System (GPS) is a widely used form of GNSS. Regional applications of such systems are also used to generate more region-specific PNT data. For example, Galileo can be used in Europe, GLONASS in Russia, and the Beidou Navigation System (BDS) in China.

[0003] GNSS has points of failure. For example, some GNSS become unreliable when operated inside buildings or in areas where network communication is disrupted. Some GNSS become unreliable when operated in dense urban environments where large buildings block communication signals. Other GNSS become unreliable when used in caves, tunnels, mountains, or other locations where the positioning device has difficulty receiving signals from GNSS satellites. Additionally, some GNSS are susceptible to malicious attacks through electronic interference or physical intervention that reduce reliability. [Brief explanation of the drawings]

[0004] [Figure 1A] 1 illustrates an exemplary magnetic navigation system. [Figure 1B] 1 illustrates an exemplary magnetic navigation device. [Figure 2] FIG. 1 is an exemplary sequence diagram for an exemplary magnetic navigation system. [Figure 3] 1 illustrates an exemplary method for generating exemplary magnetic mapping data. [Figure 4] FIG. 4A is an example time overlay of various example magnetic profiles in an example region. FIG. 4B shows an example comparison between example quantized trajectory data for example sensor and mapping data. FIG. 4C shows an example comparison between example quantized trajectory data for example sensor and mapping data. FIG. 4D shows example trajectory data compared for improved functional similarity. FIG. 4E shows example trajectory data compared for improved functional similarity. FIG. 4F shows example trajectory data compared for improved functional similarity. FIG. 4G shows example trajectory data compared for improved functional similarity. FIG. 4H shows example trajectory data compared for improved functional similarity. FIG. 4I shows example trajectory data compared for improved functional similarity. [Figure 5] 1 shows an example of magnetic measurement information over time. [Figure 6] FIG. 10 is a diagram showing an example of magnetic strength and position data. [Figure 7] 10 depicts an exemplary magnetic strength and location information region overlap data set. [Figure 8] 1 illustrates an exemplary data transmission scenario. [Figure 9] 1 illustrates an exemplary process for updating exemplary geomagnetic map information. [Figure 10] 1 illustrates an example process for communicating with an example magnetic navigation system. [Figure 11] 1 illustrates an example process for transmitting example magnetic measurement information to an example magnetic navigation system based on available positioning information or a network connection. [Figure 12] 1 illustrates an exemplary method for transmitting exemplary magnetic measurement information to an exemplary magnetic navigation system. [Figure 13] 1 illustrates an exemplary method for navigating based on available localization information and network connectivity. [Figure 14A] 1 shows exemplary magnetic data for improved indoor localization. [Figure 14B] 1 shows exemplary magnetic data for improved indoor localization. [Figure 14C] 1 shows exemplary magnetic data for improved indoor localization. [Figure 14D] 1 shows exemplary magnetic data for improved indoor localization. [Figure 15] 1 depicts exemplary repeatable and reliable magnetic mapping data collected over an exemplary course of multiple days. [Figure 16] 1 illustrates an exemplary computer system. Description of exemplary embodiments

[0005] In particular embodiments, magnetic measurements are used to perform localization or navigation based on geomagnetic map information. In particular embodiments, localization or mapping is performed based solely on magnetic measurements. In particular embodiments, localization or mapping is performed based on a combination of magnetic measurements and additional localization information, including, but not limited to, GNSS data or measurements made by an inertial measurement unit. In particular embodiments, magnetic measurements made by a magnetic navigation device are used to generate and continuously update geomagnetic map information. In this way, an accurate geomagnetic map that is updated in response to environmental changes may be available within the magnetic navigation device.

[0006] GNSS can effectively provide navigation data, including maps and directions for navigation. However, when interference—for example, local anomalies such as buildings or other geographic features—is present in the signals used to perform localization, GNSS can become erroneous and susceptible to reliability issues. Furthermore, GNSS-based navigation systems can be susceptible to attacks from malicious actors that can result in complete loss of functionality or false localization results.

[0007] When GNSS reliability is an issue, navigation data is typically obtained by a secondary set of devices—an inertial navigation system (INS). An INS uses a combination of mechanical or electromechanical systems to calculate the position, orientation, and velocity of a moving object. For example, some systems can use a computer system, motion sensors, and rotation sensors to calculate the position or orientation and velocity of a navigation system through dead reckoning. This can be done without the use of an external reference—e.g., GNSS. However, inertial systems accumulate navigation errors that can result in inaccurate data if not periodically corrected with accurate position data.

[0008] The geomagnetic field (GMF) can be used to determine location. The geomagnetic field is believed to be locally specific and dependent on numerous factors, including magnetic anomalies, artificial magnetic fields, and seasonal or diurnal variations. A common obstacle to using local GMF information to perform localization or navigation has been the general lack of availability of high-resolution GMF maps. Indeed, existing GMF-based maps currently typically provide only what is known as 2 / 60° resolution, which corresponds to measurements at a resolution of approximately 3.6 km. This resolution may be difficult to utilize for rigorous localization and navigation purposes, especially over short distances such as urban environments. Therefore, in particular embodiments, a magnetic navigation system may utilize measurements obtained by various magnetic navigation systems to construct a geomagnetic map with sufficient resolution to provide localization with sufficient accuracy, thereby improving localization or navigation that can be performed using GNSS alone and GNSS combined with other sensing modalities, including, but not limited to, an inertial measurement unit.

[0009] Turning now to the drawings, navigation systems and methods are illustrated that utilize magnetic map data in conjunction with GNSS data to perform localization or navigation in particular embodiments. In particular embodiments, using magnetic measurements to derive localization information from a magnetic map in conjunction with localization information from GNSS improves the reliability of the navigation system or provides additional functionality, including reliable navigation indoors or in environments where the navigation device is expected to be at least partially blocked from GNSS satellites. In particular embodiments, the navigation system utilizes a primary mapping server designed to maintain a current geomagnetic map of at least a portion of the Earth, where the geomagnetic map includes information from the current geomagnetic field (GMF) and updated information obtained from a magnetic navigation device. In particular embodiments, the navigation system may also incorporate a local data server (interchangeably referred to herein as a local magnetic data service, local mapping server, local navigation server, or local server) in communication with the primary mapping server to provide magnetic mapping data collected based on measurements made by a magnetic navigation device. In particular embodiments, the magnetic mapping data provided by the local mapping server may be a set of patch data. The specific data sent will depend largely on the magnetic measurement capabilities of the magnetic navigation device, the processing performed by the local server, or the requirements of a particular navigation application. In some embodiments, a primary navigation or mapping server may utilize data received from local navigation servers to generate magnetic data (comprised of various magnetic layers and other data), update existing geomagnetic maps, and refine the geomagnetic data based on the received data (e.g., data derived from magnetic navigation device measurement data, including, but not limited to, magnetic navigation device measurement data or geomagnetic map patch data sets). In particular embodiments, the local server receives data from individual magnetic navigation devices located within a particular region.

[0010] In particular embodiments, the data sets from the devices may contain a variety of information, including, but not limited to, information within the region and local magnetic anomaly data. The regional data server may process data received from magnetic navigation devices to continuously update and refine local geomagnetic map data or geomagnetic map patch data sets. In particular embodiments, the regional data server may apply weighting to each data set received from the magnetic navigation devices based on factors including, but not limited to, the reliability and accuracy of the hardware used and the Global Navigation System (GNSS) data reported by the magnetic navigation devices. In particular embodiments, the regional data server may generate updated geomagnetic map patch data sets (or patch data sets) based on data received from the magnetic navigation devices over a period of time. In some embodiments, the updated patch data sets may be generated based on comparison with similar probabilistic data to improve and refine the data sets and update the wide-area geomagnetic map data used by the magnetic navigation devices. The particular manner in which the geomagnetic map is updated, or the server that determines how the geomagnetic map is updated, will depend largely on the requirements of the particular navigation application.

[0011] In particular embodiments, the navigation system may perform localization or navigation by generating continuously updated geomagnetic mapping data used by magnetic navigation devices. Such a system may not only provide reliable geomagnetic mapping data based on relatively stable GMFs, but also improve the resolution of data based on magnetometry data obtained by individual navigation devices. In this way, the navigation system in particular embodiments may provide reliable geomagnetic map information and, by utilizing this information, provide more reliable localization and mapping services compared to conventional navigation systems that rely solely on GNSS. Furthermore, the geomagnetic map may be regularly updated with increasingly accurate information as an increasing number of magnetic navigation devices obtain magnetic field measurements and transmit the new information to the system's server.

[0012] Magnetic navigation systems, methods for performing localization or navigation based on magnetic measurements using a geomagnetic map, and magnetic navigation devices in certain embodiments are further described below. FIG. 1A illustrates an exemplary magnetic navigation system in which a magnetic navigation device performs localization or navigation using geomagnetic map information. The geomagnetic map information is updated based on magnetic measurements made by the magnetic navigation device. In certain embodiments, the magnetic navigation system 100 can provide localization or navigation services within one or more geographic regions (102-108). At any given time, various magnetic navigation devices (110) may be present within each of the regions (102-108). Examples of magnetic navigation devices 110 may include, but are not limited to, mobile phones, vehicle navigation systems, UAV navigation systems, or any other device capable of receiving geomagnetic map information, capturing magnetic measurements, or transmitting information based on magnetic measurements. The characteristics of the magnetic navigation device are limited only by the requirements of a particular application.

[0013] Many magnetic navigation devices can communicate with various servers, including, but not limited to, servers in a magnetic navigation system, via cellular or satellite data communications networks. While much of the following discussion refers to magnetic navigation devices having a network connection and obtaining data from a remote server, certain embodiments of the magnetic navigation device store geomagnetic map information or additional map information necessary to render a UI in memory on the magnetic navigation device, enabling localization or navigation in the absence of a network connection. When a network connection is available, certain embodiments of the magnetic navigation device can receive data, including, but not limited to, geomagnetic map information, UI map information (e.g., map tiles that can be displayed in a location or mapping UI), or navigation information (e.g., route information or turn-by-turn directions), via the network connection. In certain embodiments, a single server system provides geomagnetic map information in combination with other map information. For example, geomagnetic map information can be provided as a layer of map information, including, but not limited to, visual map information that can be displayed in a UI. In certain embodiments, the geomagnetic map information is obtained from a different server than the server providing the UI map information or navigation information. In certain embodiments, the magnetic navigation device accesses map or navigation information through a unified interface, and portions of the particular information are obtained from various servers or database systems within the magnetic navigation system and provided to the magnetic navigation device through the unified interface. Particular server architectures that may be utilized in the magnetic navigation system in certain embodiments are discussed further below with reference to the regional server system 112 and the main server system 116 shown in FIG. 1A. Many other server architectures may be utilized within the magnetic navigation system as appropriate for the requirements of a particular application in a particular embodiment.

[0014] In certain embodiments, the magnetic navigation system incorporates one or more region server systems 112 that can communicate with magnetic navigation devices communicating over a particular network or within a particular geographic region. The region server systems can transmit geomagnetic map data 114 to and receive magnetometry information from magnetic navigation devices 110 within the geographic region (102-108). As discussed above, the region server systems 112 can also transmit UI map information or other types of information, including, but not limited to, navigation information.

[0015] In certain embodiments, the magnetic navigation device 110 may continuously provide magnetometry information to the magnetic navigation system 100 (e.g., to the area server system 112 or the main server system 116). In certain embodiments, the magnetic navigation device 110 periodically provides a data log of the magnetometry information. In certain embodiments, the magnetic navigation device 110 reports magnetic measurements based on a network connection. For example, the magnetic navigation device 110 may wait until it is connected to a broadband internet connection (e.g., via a Wi-Fi access point) to upload the magnetometry data log to a server system (112 or 116) within the magnetic navigation system 100. The specific manner in which data is exchanged between the magnetic navigation device and the server within the magnetic navigation system will depend largely on the requirements of a particular application.

[0016] FIG. 1B illustrates an exemplary magnetic navigation device. The magnetic navigation device 150 includes a processing system 152 in communication with a memory 154 that includes a magnetic navigation application 155. The processing system may be implemented using any combination of a general-purpose microprocessor, a microcontroller, a digital signal processor, a graphics processing unit, or an application-specific or software-controlled device capable of performing logical or computational operations. In certain embodiments, the memory 154 includes a non-volatile memory system. In certain embodiments, the magnetic navigation application 155 is temporarily downloaded and stored in the memory 154. In certain embodiments, the memory 154 may also be utilized to store additional data, including, but not limited to, geomagnetic map information, UI map information (e.g., map tile image files), or navigation information. As described above, the magnetic navigation device in certain embodiments may locally store map information to enable magnetic navigation in the absence of a network connection.

[0017] The processing system 152 is also in communication with the magnetic sensor system 156. In the illustrated embodiment, the magnetic navigation device also includes a GNSS receiver 158, an inertial measurement unit (IMU) 160, and a wireless communication module 162 in communication with the processing device 152. In particular embodiments, the GNSS receiver 158, the IMU 160, or the wireless communication module 162 may be utilized to obtain position information that may be utilized by the magnetic navigation application 155 in addition to, or as an alternative to, position information obtained from magnetic measurements obtained using the magnetic sensor system 156. In particular embodiments, the wireless communication module 162 may also be utilized to obtain supplemental position information. The wireless communication module 162 may also be utilized to communicate with a server system within the magnetic navigation system to obtain geomagnetic map information or to transmit data related to the magnetic measurements. While various magnetic navigation device architectures are described above with reference to FIG. 1B , any of a variety of architectures may be utilized, including, but not limited to, architectures in which the GNSS receiver or wireless communication module perform the above-described functions in a separate processor or memory (thus eliminating the need for separate processing system or memory components). Thus, many different magnetic navigation system implementations may be utilized including fewer or additional components relative to those shown in FIG. 1B, as appropriate to the requirements of a particular application in a particular embodiment.

[0018] Referring again to FIG. 1A , in certain embodiments, the regional data server 112 may be configured to accumulate transmitted magnetic measurement information 114 received from the magnetic navigation devices 110. The accumulated magnetic measurement data may be used to generate updated geomagnetic map information for a particular region. The regional data server 112 then transmits geomagnetic map updates (e.g., updated geomagnetic map patches) to a main server system or multiple server systems located in geographically dispersed data centers. The geomagnetic map updates may then be utilized to perform updates on a wide-area geomagnetic map. The specific manner in which magnetic measurements from multiple magnetic navigation devices may be utilized within a single server system, or within a hierarchy of server systems, to update a wide-area geomagnetic map or a wide-area geomagnetic map depends largely on the requirements of a particular application in a particular embodiment. The process for collecting magnetic measurements and updating a geomagnetic map in certain embodiments is discussed further below.

[0019] In certain embodiments, the magnetic navigation system can “paste” or improve the GMF wide-area geomagnetic map. For example, a magnetic navigation server (e.g., the main server system 116) may maintain a geomagnetic map. The geomagnetic map may be a dual-redundant “master map” of the Earth's GMF to ensure uninterrupted service even if the master file is corrupted. The master geomagnetic map may serve as a baseline for establishing higher-resolution geomagnetic maps that can be used for detailed magnetic navigation. In certain embodiments, for example, the master geomagnetic map stored on one or all main servers of the magnetic navigation system may be based on data received from the EMAG2 (geomagnetic anomaly grid with 2 arc-minute resolution) data model. Furthermore, the master geomagnetic map may include additional layers of data including not only a coarse gradient map of the GMF but also other information such as magnetic susceptibility and conductivity. In certain embodiments, the various layers of additional data may be updated periodically or in real time as information is generated from the magnetic navigation devices and provided to the regional server. Similarly, in certain embodiments, the master geomagnetic map may be updated or improved to have a higher resolution than the baseline EMAG2 model. The updated master geomagnetic map can then be used for improved positioning or navigation.

[0020] In certain embodiments, magnetic mapping data may be provided in multiple layers of two-dimensional data based on the height of the magnetic device. For example, some devices may be on airborne vehicles, while others may be closer to the ground, and still others may be located inside buildings at different heights. Thus, various embodiments of system programming can extrapolate the two-dimensional datasets and render three-dimensional datasets to generate more sophisticated three-dimensional maps of magnetic anomalies. The three-dimensional datasets may then be stored on a main server. Similarly, some embodiments may utilize the three-dimensional datasets for localization.

[0021] In certain embodiments, updating the wide-area geomagnetic map includes capturing magnetometric information using a magnetic navigation device operating within the magnetic navigation system. In certain embodiments, the magnetometric information may be generated by the magnetic navigation device and stored or provided to the magnetic navigation system in a number of different formats, including, but not limited to, decimal data, tiny integer (TINYINT), or integer data formats. Similarly, data values ​​may be provided in any number of value types, such as degrees (e.g., representing latitude and longitude values) and meters or English measurement systems to represent respective resolutions or cell sizes. It should be understood that combinations of such values ​​can be used to generate magnetic information capture trajectories, which may simply be referred to as tracks, for each individual magnetic navigation device operating within the magnetic navigation system or capturing magnetometric information for use within the magnetic navigation system. In some embodiments, trajectories may be provided to the magnetic navigation system by the magnetic navigation device using a variety of different data formats or values. For example, Table 1 below illustrates track data generated in certain embodiments. [Table 1] The TRAJECTORY data structure can be implemented as follows: TRAJECTORY: An array of elements of type "POINT". POINT: { double lat; double Ion; float height; float heading; / / magnetic heading time_t timestamp; / / timestamp of the current measurement double accelerometerX; double accelerometerY; double accelerometerZ; double mag_x; double mag_y; double mag_z; double suscept; double conductivity; float v_accuracy; / / GNSS vertical accuracy (m); -1 if unavailable float h_accuracy; / / GNSS horizontal accuracy (m) -1 if unavailable short mode; / / 0 - normal mode; 1 - GNSS denial mode; 2 - network denial mode; 3 - Blind mode. };

[0022] Such data structures may be utilized to report magnetic measurements appropriate to the requirements of a particular application in a particular embodiment.

[0023] In certain embodiments, magnetometry information reported directly by the magnetic navigation devices or contained within the orbits reported by the magnetic navigation devices can be used to update a baseline magnetic map, which can include data analyzed from the EMAG2 dataset. The EMAG2 data can be used as a baseline to determine the level of resolution that may be needed to improve the overall functionality of the magnetic mapping system. For example, the level of resolution improvement possible can be determined by the localization accuracy of the GNSS device data and the update rate of the magnetic sensors specific to each device in the system.

[0024] In certain embodiments, the relevant data may include, but is not limited to, latitude, longitude, height (altitude), and magnetic data associated with the device type. In certain embodiments, the coarse layer data may include various values ​​or data sets associated with the device's geographic location. This may be extremely useful in determining the types of magnetic anomalies that are already known and may contribute to improving overall resolution. Additionally, magnetic susceptibility and conductivity data may be generated by devices in the region. Such data may be used to establish various confidence factors associated with each device. The confidence factors may, in certain embodiments, act as weighting factors that may determine the level of accuracy of the data provided and subsequently facilitate its use in determining device orbit data.

[0025] As discussed above with respect to FIG. 1A , a range server can be used to preprocess magnetometry information provided by magnetic navigation devices. In certain embodiments, a magnetic navigation system can utilize a range server to generate updates to regions or “patches” of data for a wide-area geomagnetic map. Updates can be implemented as an additional layer of data or using any of a variety of data structures that reflect changes to the underlying wide-area geomagnetic map information. In certain embodiments, a range server can create geomagnetic map patches for a master geomagnetic map based on trajectories, which may generally be categorized by device type and device hardware. For example, a magnetic navigation system can weight the reliability of the information (e.g., mobile phone magnetic measurements versus vehicle-mounted magnetic navigation devices) based on factors including, but not limited to, the sensitivity or reliability of the magnetometer utilized by the magnetic device or the reliability of other location information generated by the magnetic navigation device. Trajectories of various devices can be collected by various range servers 112, and the magnetometry information contained within the trajectories can be processed by the range server to create geomagnetic map patches for use in updating the wide-area geomagnetic map. The geomagnetic map patches can be sent to a main server system to update the wide area geomagnetic map.

[0026] While much of the above discussion relates to the use of orbits to provide magnetometric information for purposes of updating wide-area geomagnetic maps, methods based on the transmission of orbital data are merely an implementation that may be useful because they do not rely on the need for continuous transmission of magnetometric information by the magnetic navigation device. In this manner, the use of orbits can enable the magnetic navigation system to aggregate magnetometric data at advantageous times (e.g., when low-cost / high-speed network connections are available to the magnetic navigation device). Thus, the magnetometric information may be provided using any of a variety of different data structures or using any of a variety of communication frequencies, as appropriate for the requirements of a particular application in a particular embodiment.

[0027] FIG. 2 is a sequence diagram for an exemplary magnetic navigation system conceptually illustrating communication between a magnetic navigation device and a server system within the magnetic navigation system in certain embodiments. In certain embodiments, the magnetic navigation device 202 may be configured to communicate wirelessly with a region server 204. In certain embodiments, the magnetic navigation device 202 may transmit magnetic mapping information 206 generated from the device to the region server 204. The region server 204 may perform a number of operations, as described below, to analyze and process the received data from the magnetic navigation device to generate updates to the geomagnetic map. In the illustrated embodiment, the magnetic measurement information received from the magnetic navigation device is utilized to generate a geomagnetic map patch data set that may be transmitted 208 to a primary server 210 for use in updating the wide-area geomagnetic map. As discussed above, updates to the wide-area geomagnetic map may take the form of an additional layer of information within the wide-area geomagnetic map. In certain embodiments, the primary server 210 may transmit updated geomagnetic map data 212 to the region server for storage and distribution to the magnetic navigation devices. The next time the magnetic navigation device 202 requests geomagnetic map data 214 to perform navigation, an updated geomagnetic map file 216 can be provided by the server 204 and utilized by the magnetic navigation device to perform localization or navigation. Geomagnetic map information can be region-specific. Thus, the magnetic navigation device 202 need not request a complete wide-area geomagnetic map, but instead can request geomagnetic map cubes or tiles for a specific region. For example, many magnetic devices may have varying degrees of uncertainty that may require two-dimensional or three-dimensional data for localization / navigation. If the magnetic device is on or under a bridge, three-dimensional GMF information can be provided in a cube to enable navigation. As another example, a vehicle on a road may not require more than two-dimensional data for localization, so tiles would be provided. In certain embodiments, the magnetic navigation device can download UI map tiles 216 to enable the display of an appropriate UI as it continues along its trajectory.

[0028]

[46] Figure 3 illustrates an exemplary method for generating exemplary magnetic mapping data. In certain embodiments, a magnetic navigation device acquires magnetic measurements 302 using a magnetometer present on the device. Measurements made by the magnetic navigation device are specific to the magnetic navigation device in the sense that they depend on the location of the magnetic navigation device and the particular magnetometer employed by the magnetic navigation device. In certain embodiments, each magnetic measurement made by the magnetic navigation device includes, but is not limited to, three components of magnetic field strength measured along with localization and attitude data from a GNSS / INS or any reliable navigation system. In certain embodiments, localization information may be supplemented with additional localization data, including, but not limited to, localization information obtained from measurements in a digital communication system or IMU measurements. In certain embodiments, the magnetic measurements may be transmitted and stored by the navigation system (e.g., in a regional server) for use in calculating updates to the wide-area geomagnetic map, along with navigation log data and information including, but not limited to, the type of magnetic navigation device, sensor type, or accuracy of the localization information. In certain embodiments, the magnetometry information can be illustrated by Equation 1 below:

number

[0029] In certain embodiments, the magnetic measurement information generated by a particular magnetic navigation device can include a variety of different factors, including information identifying the device hardware utilized to capture the measurements and the reliability of such hardware, as described above. Additionally, the regional device-specific data can take into account other variables, such as, but not limited to, regional anomalies that may affect the regional magnetic field. Anomalies can be any number of objects that can provide information about the regional magnetic field, such as buildings, bridges, tunnels, cell phone towers, streetlights, any number of man-made objects, or geographic features specific to the region.

[0030] The magnetic measurement information generated by a particular magnetic navigation device can be transmitted to a region server 304 for further processing. The region server can generate a region trajectory 306 based on the region device-specific data. Alternatively, the magnetic navigation device can provide the magnetic measurement information as a trajectory. In certain embodiments, the magnetic measurements can then be used to generate a region geomagnetic map patch 308 that can be transmitted to a main server system 310. The main server can use the geomagnetic map patch to update a wide-area geomagnetic map 312 with the patch received from the region server. As described above, these updates can be reflected as an additional layer in the wide-area geomagnetic map maintained by the main server system.

[0031] With regard to magnetic measurements or regional anomaly data that may be collected by various regional devices, such data can be assigned different confidence or trust levels that can be used in the overall calculation of geomagnetic map patch data. In various embodiments, the confidence or trust levels can be referred to as probabilistic layers and can be calculated based on the number of magnetic navigation devices that reported the anomaly, the repeatability of measurements across different magnetic navigation devices, the accuracy and type of magnetometer used to collect the magnetic measurements, whether the magnetometer is a recognized device, the type of motion, or the reliability of the localization (GNSS data), as well as seasonal variations that may affect the regional magnetic field. Additionally, probabilistic layers can include other types of information, such as information describing known local anomalies, including, but not limited to, the materials present within the known local anomalies. Materials can have different effects on the characteristics of the local magnetic field. Local anomalies, such as buildings, bridges, and roads, can be made from any number of materials. Furthermore, such anomalies and their respective materials can be associated with relative susceptibility and conductivity information seen by the devices. Thus, a database containing known magnetic properties of various types of materials can be established or utilized so that corrections can be made to the magnetometer or included in corresponding calculations to generate geomagnetic map patches for use in updating the global geomagnetic map. In certain embodiments, the data can be filtered into various types of stochastic layers, such as device susceptibility and conductivity data. In various embodiments, the stochastic layers can include, but are not limited to, device or object coordinates, vector values ​​of the local magnetic field, gradient vectors of the local magnetic field, magnetic susceptibility values, electrical conductivity values, and magnetic navigation device type layers.

[0032] In certain embodiments, the geomagnetic map is created using measurements from various magnetic navigation devices, including measurements made via more precise measurement platforms and measurements made using less expensive sensors. For example, some magnetic navigation devices may include GNSS and INS solutions such as the PwrPak7-E1 and Novatel's Synchronized Position, Attitude, and Navigation (SPAN) technology. These magnetic navigation devices may be capable of providing time, position, velocity, and attitude parameters. In certain embodiments, magnetic measurements obtained by magnetic navigation devices with more reliable magnetic measurement platforms are given a higher level of confidence (or certainty) in the probabilistic layer used to determine updates to the wide-area geomagnetic map. In contrast, magnetic navigation devices equipped with less precise components or technology may be less reliable. Lower precision components, such as magnetometers in mobile devices, may be relatively reliable for localization and navigation despite the level of noise that may be generated by some of these less precise sensors.

[0033] In certain embodiments, the magnetic navigation system can utilize more magnetic measurements captured using less accurate magnetic sensors or localization techniques to build a reliable and accurate geomagnetic map with improved resolution. For example, many embodiments can utilize the error or noise commonly generated from less accurate sensors, since similar sensors tend to generate the same or similar errors, making them highly predictable. Thus, sensor data containing errors can be used not only to generate coarse mapping data, but also for coarse-scale localization. To represent a coarse map, the collection of many magnetic measurements from the same or similar types of noisy sensors can be useful in developing patches for a wide-area geomagnetic map by utilizing processes including, but not limited to, quantization of GMF gradient values. While much of the above discussion relates to the use of a magnetic navigation device to collect magnetic measurements, the magnetic navigation system in certain embodiments can also receive magnetic measurements from a dedicated magnetometer incorporating highly precise geolocation and field measurement techniques. In this way, the magnetic navigation system can periodically capture highly accurate magnetic measurements within a specific area to continuously improve the wide-area geomagnetic map information available to the magnetic navigation device. Thus, references herein to obtaining magnetic measurements using a magnetic navigation device should be understood to encompass obtaining measurements using dedicated magnetometry devices that also form part of a magnetic navigation system. Any of a variety of strategies can be employed to collect magnetic measurements and process the magnetometry information to generate reliable geomagnetic map information for use in location or navigation, as appropriate to the requirements of a particular application in a particular embodiment.

[0034] In certain embodiments, a method for updating a wide-area geomagnetic map can follow a systematic process of acquiring magnetometry information from magnetic navigation devices in a region and then assigning the magnetometry information to a probabilistic layer for processing. Furthermore, the probabilistic layer can compare the similarity of the magnetometry information and generate an overlay of magnetometry information useful for generating updated geomagnetic map patches. Magnetic measurements similar to those described above can be saved and stored in a (distributed) database for use in generating updates to the wide-area geomagnetic map. In certain embodiments, the probabilistic layers or magnetometry data sets can be compared over time. In other words, magnetic measurements for a region can be compared over time to establish a reliable set of data useful for generating updates to the wide-area geomagnetic map. The magnetic measurements taking into account changes in data over time can be expressed as follows in Equation 2:

number

[0035] FIG. 4A is an exemplary time overlay of various exemplary magnetic profiles in an exemplary region, conceptually illustrating the capture of magnetic measurements over different time intervals in a given region. During a first time interval 402, two magnetic navigation devices capture magnetic measurements while traversing two different paths within the same region of the GMF. During second and third time intervals (404 and 406), an additional magnetic navigation device captures magnetic measurements while moving within the region. Magnetic measurements taken within a cell 408 of the region at different times are shown. Given the uncertainty in the position or trajectory of the magnetic navigation devices, subsequent processing of the magnetic measurements accounts for uncertainty regarding both the magnetic measurements and the position of the magnetic navigation devices at the time the magnetic measurements were taken. For processing, each magnetic measurement can be assigned to a corresponding resolution cell within the region (e.g., the cell that most likely contains the position of the magnetic navigation device at the time the magnetic measurement was taken). The GMF within the corresponding cell can be a function of a 3D coordinate similar to that illustrated in Equation 2 above. The three-dimensional coordinate can be illustrated by Equation 3:

number

number

[0036] In certain embodiments, Equations 3 and 4 above can be convolved to include a change in time, Δt, that can be associated with probabilistic estimates of coordinates, velocity, and orientation during mapping using techniques such as, but not limited to, Gaussian Process Regression (GPR). In some embodiments, magnetic measurements collected by various magnetic navigation devices in the region can be matched to the same time interval and compared using approximate coordinates. In certain embodiments, this is done in a manner that accounts for potential errors or noise that may arise from any given device. Thus, in certain embodiments, the navigation system can utilize the collected magnetic measurement information to determine the magnetic gradient fields using the matrix provided in Equation 5 below.

number

[0037] Furthermore, magnetic measurements can be derived from previous measurements to new ones by interpolating mapping data and predicting Δx, Δy, and Δz. When multiple magnetic measurements captured by different magnetic navigation devices are available within a region, analysis can be performed to assess the similarity between the magnetic measurements, such as, but not limited to, through the use of correlation analysis. Thus, in certain embodiments, the navigation system can utilize the similarity between magnetic measurements to construct a probabilistic magnetic gradient map or geomagnetic map patch that is used to update the wide-area geomagnetic map. Probabilistic magnetic field maps, according to many embodiments, can combine information from a wide-area reference database and gradient vector (3-axis) geomagnetic map data to improve resolution. In certain embodiments, analyses, such as, but not limited to, similarity correlation analysis, can be repeated over time to update the probabilistic magnetic gradient map. Correlating the similarity of magnetic measurements is in stark contrast to typical GPS / GNSS methods that look for differences in measurements to improve accuracy.

[0038] For example, FIGS. 4B and 4C illustrate a comparison of quantized trajectory data and mapping data for an exemplary sensor, comparing gradient magnetic mapping data from a sensor with known error ( FIG. 4B ) with similar values ​​that may be stored in a map ( FIG. 4C ). In FIG. 4B , graph 414 shows raw data from the sensor, and graph 418 shows the corresponding quantized data. Similarly, in FIG. 4C , graph 416 shows raw data regarding GMF gradients obtained from a map along a linear coordinate X (in meters), and graph 420 includes the same data but quantized. The quantized data can be divided into different quantization levels 412, as indicated by the horizontal lines in graphs 418 and 420, for example. The quantization levels 412 can be used to illustrate the quantized trajectories of the respective sensors 414 and maps 416. It can be seen that gradient profile 410b extracted from graph 416 differs from gradient profile 410a from sensor 414 by scale, since the morphology is preserved. Correspondence between gradient profiles 410a and 410b can be detected, thus providing reliable navigation. Conventional systems may operate by using error metrics, such as comparing absolute or squared differences in quantized trajectory data, and would fail to provide a matching data set from which to generate improved magnetic mapping data. In contrast, many embodiments operate to compare trajectory data for similarities rather than differences. In some implementations, the error metric may be bounded by 1 (100%), providing comparative data results much faster and with greater accuracy than conventional methods of difference.

[0039] Figures 4D-4I show example trajectory data compared for similarity for improved functionality, illustrating how some embodiments may use the similarity of trajectory data for localization purposes. Figure 4D, for example, illustrates a simulated scalar magnetic field map with various magnetic anomalies 420 represented by peaks and valleys in the map's "Z" direction. Figure 4E similarly shows a two-dimensional magnetic anomaly map of the same 100x100 square, illustrating the respective strengths of the various anomalies. Using data from each magnetic map, various embodiments can generate gradient mapping data for each region, as illustrated in Figure 4F. At the same time, a trajectory for any given magnetic device can be generated based on the numerous methods and embodiments illustrated above. An example of the magnetic trajectory of an object within a region and its gradient can be illustrated by the graph in Figure 4G. Many embodiments then perform an overlay comparison between the data trajectory measured by the magnetic device (FIG. 4G) and the map data (FIGS. 4D-4F), which may be illustrated in FIGS. 4H and 4I, where the normalized correlation coefficient (NCC) values ​​are shown by comparing the known trajectory with other sets from the map data (FIGS. 4D-4F). The most probable movement trajectory can be identified by comparing the similarity between the data. In this example, the most probable trajectory can be indicated by the fifth column, which has the highest NCC value of 0.9978 among the other comparisons. As can be seen in FIGS. 4H-4I, the correct value for the column number can be obtained by comparing only the first 24 points out of all trajectories (95 points).

[0040] In certain embodiments, if the similarity correlation method does not produce the desired level of accuracy within a region, other correlation methods may be used to help improve accuracy. For example, some embodiments may use a correlation basis function based on calculating the cross-correlation function of random processes. In certain embodiments, the magnetic navigation system may use a difference basis function, which may be commonly proposed in the art. In certain embodiments, a spectral basis function may be used to perform correlation in the spectral domain. In certain embodiments, any of a variety of functions may be utilized to obtain geomagnetic map information using magnetic measurements made by various magnetic navigation devices, as appropriate for the requirements of a particular application.

[0041]

[59] Referring now to Figures 5 through 7, magnetic mapping data sets in certain embodiments may be illustrated. Figure 5 illustrates exemplary latitude and longitude trajectory data captured on different days while traversing the same or substantially similar path within a given region. It may be shown that the overlapping data illustrated along the curved centerline can be used to generate improved geomagnetic map information. In various embodiments, geomagnetic map data can continue to improve with an increasing number of magnetic measurements from a variety of magnetic navigation devices within the region. While the different data sets shown in Figure 5 appear somewhat shifted relative to each other, the data sets represent the same path over two different time periods. Conditions change daily, and local anomalies may also change, affecting each data set. However, as discussed above, overlapping data sets can be compared for similarity, and appropriately determined weighting factors can be applied to the data sets to establish greater consistency. The magnetic measurements illustrated in Figure 5 are also illustrated in the chart shown in Figure 6. In particular, Figure 6 shows how the magnetic field varied separately by latitude (indicated by reference numeral 602) and longitude (indicated by reference numeral 604) as a function of date (corresponding gray and black) for the orbit shown in Figure 5. Each data set also shows a slight shift, but is comparable.

[0042] FIG. 7 illustrates an exemplary regional geomagnetic map formed based on magnetic measurements captured by multiple different magnetic navigation devices. The geomagnetic map shows corresponding intensities at each latitude and longitude location on the map. The greater the number of magnetic navigation devices that collect reliable magnetic measurement information, the greater the amount of overlapping data that can be used to generate a high-resolution geomagnetic map for each region. In certain embodiments, a magnetic navigation system may implement the above-described methods and systems to aggregate magnetic navigation device-specific data to create a geomagnetic map layer where similar data can be compared and used to generate improved-resolution geomagnetic data specific to a particular class of device. The specific manner in which a magnetic navigation system processes magnetic measurements obtained from various classes of magnetic navigation devices to derive updated geomagnetic map information will depend largely on the requirements of a particular application.

[0043] Turning now to FIG. 8 , a magnetic navigation system 800 is illustrated. In certain embodiments, a designated region 802 may have multiple magnetic navigation devices or objects (804-814), such as metal objects, cars, high-voltage lines, subways, etc. Each magnetic navigation device (804-808) may transmit magnetic measurement information, which may include device profile information 816, to a region server 818. Individual magnetic measurements may include information about various objects (810-814) within the region, as well as information that may be provided by other magnetic navigation devices. These objects 810-814 may affect the magnetic measurements by introducing distortions into the GMF. As a result, the region server may utilize various correlation methods, such as those described above, to combine magnetic measurements received from different magnetic navigation devices and generate updated geomagnetic map information, such as (but not limited to) geomagnetic map patch(es) 820, which is transmitted to a main server 822. In certain embodiments, the main server 822 can combine the EMAG data 824 with the geomagnetic map patch data to generate an additional geomagnetic map layer with increased resolution relative to the EMAG data 824. As shown in FIG. 8 , many embodiments allow for bidirectional data transmission. In other words, many embodiments utilize a system architecture that not only generates geomagnetic map data 826 but also provides updated geomagnetic map data 826 to end devices (804-808) within the region. Different server systems can be utilized to receive and process magnetic measurements into updated geomagnetic information and distribute the geomagnetic map information to magnetic navigation devices.

[0044] FIG. 9 illustrates an exemplary process for updating geomagnetic map information in which a geomagnetic map having a higher resolution than the baseline set of geomagnetic map information is generated using multiple magnetic navigation devices. In the illustrated embodiment, multiple magnetic navigation devices (1-n) generate magnetometry information based on their presence within a given region (902-906). Each of the region servers can then receive or share the magnetometry information between themselves (908-912). Once the magnetometry information is compiled, it is aggregated (914) and can be used to generate a geomagnetic map patch (916) having a resolution greater than the resolution of the baseline data set of geomagnetic information. The geomagnetic map patch can then be transmitted (918) and used to update a wide-area geomagnetic map (920). In certain embodiments, the method illustrated in FIG. 9 can be used with any number of region servers.

[0045] In certain embodiments, a magnetic navigation device can generate, transmit, and receive magnetometry information, which may be formatted in one of a number of different data formats. FIG. 10 illustrates various processes performed within a magnetic navigation system in which a magnetic navigation device 1002 can communicate with a region server 1004. In certain embodiments, the magnetic navigation device 1002 can generate magnetometry information 1006 based on the region in which it is located and applicable hardware installed to generate such data. The magnetometry information can then be transmitted 1008 to the region server 1004 via a wireless connection. As seen in FIGS. 1A-1B and 12-13, the wireless connection between the magnetic navigation device and a server system within the magnetic navigation system can include wireless communication, such as, but not limited to, communication via a cellular data network, a satellite communication link, a wireless access point, or other wireless communication channel. The magnetic navigation device can also request geomagnetic map data 1010 (e.g., geomagnetic map tiles) for a given geographic region in which the device is located. The region server 1004 can transmit current geomagnetic map data 1012 for a region to the magnetic navigation device upon request. As described above, the geomagnetic data can be provided in combination with UI map tiles. In certain embodiments, the UI map tiles can be obtained from another server.

[0046] The manner in which magnetic measurements can be made by the magnetic measurement device may depend on the availability of other sources of positioning information or available network connections. Various magnetic measurement modes that may be employed by a magnetic navigation device in certain embodiments are shown in FIG. 11. Magnetic measurements may be obtained 1102 using a magnetometer within the magnetic navigation device. The magnetic measurements may be utilized to generate magnetic measurement information that is transmitted 1105 to a server (e.g., a region server) within the magnetic navigation system. The particular magnetic measurement information provided may depend on the availability of additional sources of localization information. For example, based on the available information, an operating mode such as normal mode 1107, network denial mode 1108, blind mode 1110, or GNSS denial mode 1112 may be selected or determined. If reliable localization information is available and the magnetic navigation device has access to a wireless data network, the magnetic navigation device may operate in a normal or conventional mode of operation 1107, in which magnetic measurements are collected and a combination of magnetic measurements and position information is transmitted 1105 to the magnetic navigation system as the data is acquired. However, if the device does not have a sufficient network signal 1108, data can be collected and stored locally for transmission once a network connection is established in network denial mode 1108. Similarly, the device can operate in GNSS denial mode 1112 when the device has insufficient GNSS signal 1110. In some embodiments, the device can utilize an INS to collect coarse data when a reliable GNSS signal is unavailable. Then, once a GNSS signal becomes available, the magnetic navigation device can begin transitioning between collection modes or update position estimates determined using the INS or other sources of position information. In certain embodiments, the device can collect and transmit data to a region server using an INS in combination with a good network signal. In those embodiments where a network signal is lacking, the data can be forwarded to the region server once a suitable signal becomes available.

[0047] FIG. 12 illustrates a decision-making process 1200 implemented within a magnetic navigation device to determine how to collect and transmit magnetometry information based on the availability of a GNSS or communication network. The magnetic navigation device can determine whether there are adequate GNSS signals 1202. If not, the magnetic navigation device can then utilize INS localization and dead reckoning to generate localization data 1204. The INS localization data can then be stored locally on the device 1205 for transmission when sufficient network signals are available. The system or device can then determine whether there are sufficient network signals 1206 to transmit magnetometry information including localization data. If there are, the data can be transmitted to a magnetic navigation system server 1208. If not, the magnetometry information can be stored 1210 until a network signal is available.

[0048] Although particular processes for generating magnetometry information using various sources of localization information are described above, the magnetic navigation device may utilize any of a variety of processes or sources for magnetic or localization information in generating the magnetometry information, as appropriate to the requirements of a particular application in a particular embodiment.

[0049] As described above, geomagnetic maps can be used in any number of applications for navigation, including land, air, and water. A magnetic navigation device can use geomagnetic maps or additional information related to the magnetic susceptibility and electrical conductivity of environmental materials to perform magnetic navigation. The specific manner in which a magnetic navigation device navigates may depend on the availability of other information sources of location information and network connectivity. If available, the magnetic navigation device can use GNSS to provide location information that can be improved in combination with magnetic or INS measurements. If unavailable, the magnetic navigation device can rely on previous GNSS location information in combination with INS and magnetic measurements. As described above, a magnetic navigation device can use magnetic measurements to provide location information based on geomagnetic map information. A magnetic navigation device can store geomagnetic map information. However, in certain embodiments, the magnetic navigation device periodically updates the geomagnetic map information. Thus, in certain embodiments, the magnetic navigation device can attempt to obtain updated geomagnetic map information to perform magnetic measurement-based location or navigation. As mentioned above, GNSS information may be unreliable or unavailable in certain areas due to the surrounding environment (e.g., tall buildings, canyons, etc.). In particular embodiments, the geomagnetic map may include information regarding the reliability of GNSS positioning information at a particular location so that the magnetic navigation device can better reconcile discrepancies between a position determined based on GNSS information and the likelihood that that position is correct based on magnetic field measurements. Magnetic field measurements may be utilized in any of a variety of different ways to perform positioning in combination with additional sources of positioning information, as appropriate for the requirements of a particular application in a particular embodiment.

[0050] As described above with respect to generating mapping data, certain embodiments may incorporate similar navigational operating modes. For example, if a navigation device has a reliable GNSS connection and a reliable cellular network connection, it may operate in a normal transmission mode (e.g., normal mode 1107) by receiving updated magnetic mapping tiles or cubes for a given operating region. Furthermore, when magnetic mapping tiles or cubes are transmitted to the navigation device, the device may compare the magnetic mapping tile / cube data with that of conventional GNSS data and evaluate the comparison for any discrepancies, which may be transmitted to a region server for later processing. Alternatively, if the device has poor GNSS connectivity but sufficient network connectivity (e.g., GNSS denial mode 1112), many embodiments may primarily rely on geomagnetic map information, including mapping tiles or cubes, provided by a region server for navigation purposes. Certain embodiments may also incorporate the use of dead reckoning and an INS to augment the magnetic mapping data for reliable navigation.

[0051] In contrast, some situations may not allow for the full use of GNSS or network connectivity for navigation using magnetic mapping data. Various embodiments may allow navigation to continue even when there is insufficient cellular network signal to derive updated magnetic mapping data. For example, when there is no reliable cellular network connection and only GNSS connectivity is available (e.g., network denial mode 1108), some embodiments may continue operation utilizing previously transmitted magnetic mapping data augmented with current GNSS data. Additionally, the INS may be used to generate additional data for dead reckoning. Thus, the INS, GNSS, and previously downloaded magnetic mapping data may be compared for irregularities that may be transmitted to the region server at a later time for use in further improving the overall magnetic mapping data. Similarly, when some navigation devices are effectively operating in blind mode 1110, without reliable GNSS or cellular network connectivity, the INS and previously downloaded magnetic mapping data may be used for navigation purposes. The INS and magnetic data native to the navigation devices may similarly be used for later transmission to the region server for use in improving the overall magnetic map for a given region.

[0052] 13 illustrates an exemplary method for navigating based on available localization and network connectivity. In method 1300, the magnetic navigation device can determine 1302 that suitable GNSS signals are available and proceed with obtaining orientation information and requesting any available updated geomagnetic map information. If GNSS signals are unavailable, the magnetic navigation device can use measurements 1304 made by an IMU or other source of orientation information to estimate position in combination with magnetic measurements.

[0053] When the magnetic navigation device attempts to obtain updated geomagnetic information, the magnetic navigation device can determine 1306 whether a network connection is available. If a network connection is available, the magnetic navigation device can request and obtain updated geomagnetic map information (if available). In certain embodiments, geomagnetic map information for a particular region is provided in the form of geomagnetic map tiles 1308. The geomagnetic map information can be provided in any of a variety of formats suited to the requirements of a particular application in a particular embodiment. If a network connection is unavailable, localization or navigation can proceed 1310 using pre-cached geomagnetic map information (e.g., geomagnetic map tiles). In various embodiments, magnetic measurements can be processed using the geomagnetic map information to perform localization and compared to position estimates generated using any combination of GNSS, INS, or other sources of localization data. The comparison can be evaluated for discrepancies and then further refined. In certain embodiments, the geomagnetic map information can include an indication of regions where GNSS signals are unreliable and likely to produce inaccurate position estimates. Thus, the geomagnetic map information can assist in resolving discrepancies. Magnetic navigation devices can also use such information to process INS data and perform dead reckoning based on previous reliable GNSS information (potentially ignoring more recent but less reliable GNSS information).

[0054] In the absence of sufficient network connectivity to obtain geomagnetic map information, the magnetic navigation device can perform location or mapping in a conventional manner using GNSS information. However, the magnetic navigation device can continue to perform magnetic measurements and provide self-location estimates based on these measurements from sources including magnetometry information and GNSS information to the magnetic navigation system for the purpose of updating the wide-area geomagnetic map. In some embodiments, the geomagnetic map information can be later downloaded and used to determine orientation information in combination with GNSS data to determine the most accurate position information to be used within the magnetometry information provided by the magnetic navigation device to the magnetic navigation system.

[0055] In certain embodiments, navigation techniques such as those described above can be performed regardless of the device's location within the area. For example, in conventional GNSS systems, local anomalies can act as blockers of signals to the device. However, because many embodiments take into account the magnetic susceptibility and conductivity of local anomalies and the system is based on stable magnetic mapping data, many embodiments can function within and around local anomalies. This is true for interior navigation of buildings. In some embodiments, the system can provide navigation for accurate navigation within buildings, as well as around them. Furthermore, the more the system is used in and around local anomaly areas, the more accurately the building's landscape can be mapped.

[0056] In certain embodiments, navigation techniques similar to those described above can be augmented by using contour lines for navigation on coarse mapping data. Contour lines may be referred to as lines of equal magnitude of the magnetic field or its gradient on a map. In certain embodiments, navigation techniques can use isolines to control objects by utilizing deviation errors from an isoline or set of isolines for a navigation device (similar to controlling an aircraft with position lines from a radio beacon).

[0057] Magnetic mapping data can be used in various systems and methods in certain embodiments described herein. For example, some embodiments may be designed for use in search and rescue or emergency response type missions where searchers can utilize magnetic mapping data from their own devices as well as data from those they need to triangulate and map the best course of action for executing a rescue. Other embodiments may be used to augment existing navigation applications to help improve navigation through tunnels or underground passages. For example, mining operations could benefit from improved magnetic mapping systems to improve worker safety through reliable localization. Additionally, many embodiments can be used for improved navigation and localization devices within buildings. For example, the systems and methods described herein can be used to assist device users in navigating buildings such as apartment buildings, businesses, or industrial localization. In some embodiments, the system can use Gaussian process regression (GPR) to construct magnetic maps and magnetic mapping data for such localization, which may eliminate the need for precise floor measurements in such proximity localization. 14A-14D show examples of improved magnetic data for localization, overlaying input and predicted data sets from which an extrapolated magnetic map for localization can be generated. In particular, charts 1402-1416 depicted in FIGS. 14A-14D show visualizations of magnetic fields, with different intensities represented by different colors. The X and Y axes in these charts are reference directions in a coordinate system (e.g., the ENU coordinate system) measured in meters. In the first chart 1402, the input data are magnetic values ​​measured along a random trajectory with known locations on the X and Y axes. As can be seen in the first chart 1402, only 1 / 6 of the area is covered by the measurements. Chart 1404 shows the same trajectory for the latitude and longitude axes. Charts 1406-1416 represent the process of filling map patches with magnetic fields that provide different combinations of interpolation between blank areas.In particular, chart 1408 represents a visualization of the magnetic field with a reliable localization radius without interpolation, chart 1410 represents the filling of the entire patch based on GPR without a radius, chart 1412 represents a visualization of the magnetic field filled from both GPR interpolation and real input data, chart 1414 shows the filling of the entire patch based on GPR taking into account a reliable localization radius, and finally chart 1416 represents a visualization of the magnetic filling from both GPR interpolation and real input data taking into account a reliable localization radius. Similar embodiments can be incorporated for use in autonomous robots or drones.

[0058] Other embodiments of the magnetic mapping or navigation system can be used in numerous outdoor environments, including, but not limited to, GNSS-deprived environments. For example, various embodiments may incorporate a traceback function. Such a function may be useful for robotic or remote-controlled devices navigating to a specific location. If the device loses line of sight with the control device, the device can utilize stored or previously used magnetic mapping data to retrace its path to the control device without requiring line of sight or a reliable GNSS or network connection. Similarly, many such embodiments can be used in various applications where GNSS or network connectivity is limited. For example, the embodiments described above can be used to augment other mapping applications to enable reliable location determination in remote or other locations with poor connectivity. For example, FIG. 15 shows a series of magnetic mapping data 1502 for a given device along a given trajectory 1504 on a first date (e.g., May 11, 2020) and a second date (e.g., May 14, 2020). Specifically, FIG. 15 demonstrates that magnetic measurements taken on different days or times are repeatable for navigation and mapping purposes. The stored data can be used and reused in certain embodiments to allow for continuous and reliable location when connectivity may be interrupted.

[0059] Other embodiments can be implemented on a smaller scale for a variety of different applications. For example, an individual can define a given area as a "desired area" of operation. The desired area of ​​operation can be established with a geomagnetic fence element so that known devices can be "fenced" into or barred from the desired area. Some examples include dog collars that can be used on a specific plot of land or within a specific area of ​​a city. In some embodiments, the dog collar or localization device can be designed to prevent movement beyond a defined area or prevent function beyond that area. Other examples can include, for example, a safe area where a mobile communication device may pose undue risk. Additionally, alerts can be used to notify other devices of movement within, near, and beyond the desired area.

[0060] Many of the systems and methods described herein are also useful in areas experiencing high levels of interference accompanied by various anomalies or connectivity degradation. For example, many ocean-based vehicles, particularly submersibles, may require more reliable location systems. Accordingly, magnetic mapping and navigation systems, certain embodiments, may be used in submersibles, such as military or scientific exploration vehicles. Additionally, many such devices may utilize secondary devices operating like remotely operated devices or projectiles that may also require reliable location for guidance. Accordingly, certain embodiments may be adapted for use in such devices as primary or augmented location systems.

[0061] Given the reliability of the magnetic mapping and location system embodiments described herein, many other applications can be realized. For example, many embodiments can operate without a proper GNSS or network connection, so some systems can be adapted to a leader / follower configuration. The leader can be a device that passes through a particular area (a dead zone) where connectivity may be poor. While moving, the leader device generates magnetic mapping data that can be used to generate trajectory and rough mapping data. Such data is then transmitted to follower devices before entering the dead zone, which can then utilize the data from the leader device to successfully navigate the dead zone. Additionally, each follower device can generate transmitted follower data that can be used to improve magnetic mapping tiles that can be transmitted to other follower devices.

[0062] Additionally, as discussed above with respect to extrapolating various two-dimensional data sets to generate three-dimensional data sets, some systems can be adapted for use in ground-based positioning and navigation techniques. For example, ground-based devices can be used to generate magnetic mapping data, which can then be extrapolated upward to generate a three-dimensional mapping cube. This three-dimensional mapping cube, including elevation data, can be used by air-based devices for positioning / navigating a specific area.

[0063] The concepts herein may be implemented in a variety of arrangements, including, for example, a continuously updated magnetic mapping system that compares individual area device profiles to generate new mapping tiles, a navigation system, and methods for using the same. According to embodiments, achieving such functionality involves special arrangements or designs between the subsystems described above, and implementations of their equivalents.

[0064] FIG. 16 illustrates an exemplary computer system 1600. In certain embodiments, one or more computer systems 1600 perform one or more steps of one or more methods described or illustrated herein. In certain embodiments, computer system 1600 may be a computing system or device associated with magnetic navigation device 110, regional data server 112, or main mapping server 116. In certain embodiments, one or more computer systems 1600 provide functionality described or illustrated herein. In certain embodiments, software running on one or more computer systems 1600 performs one or more steps of one or more methods described or illustrated herein or provides functionality described or illustrated herein. Certain embodiments include one or more portions of one or more computer systems 1600. Herein, reference to a computer system may encompass a computing device, and vice versa, where appropriate. Furthermore, reference to a computer system may encompass one or more computer systems, where appropriate.

[0065] This disclosure contemplates any suitable number of computer systems 1600. This disclosure contemplates that computer system 1600 may take any suitable physical form. By way of example, and not limitation, computer system 1600 may be an embedded computer system, a system-on-chip (SOC), a single-board computer system (SBC) (e.g., a computer-on-module (COM) or system-on-module (SOM)), a desktop computer system, a laptop or notebook computer system, an interactive kiosk, a mainframe, a mesh of computer systems, a mobile phone, a personal digital assistant (PDA), a server, a tablet computer system, an augmented / virtual reality device, or a combination of two or more of these. Where appropriate, computer system 1600 may include one or more computer systems 1600; be unitary or distributed; span multiple locations; span multiple machines; span multiple data centers; or reside in the cloud, which may include one or more cloud components in one or more networks. Where appropriate, one or more computer systems 1600 may perform one or more steps of one or more methods described or illustrated herein without substantial spatial or temporal limitations. By way of example, and not limitation, one or more computer systems 1600 may perform one or more steps of one or more methods described or illustrated herein in real time or in batch mode. One or more computer systems 1600 may, where appropriate, perform one or more steps of one or more methods described or illustrated herein at different times or in different locations.

[0066] In a particular embodiment, computer system 1600 includes a processor 1602, memory 1604, storage 1606, an input / output (I / O) interface 1608, a communication interface 1610, and a bus 1612. Although this disclosure describes and illustrates a particular computer system having a particular number of particular components in a particular arrangement, this disclosure contemplates any suitable computer system having any suitable number of any suitable components in any suitable arrangement.

[0067] In particular embodiments, processor 1602 includes hardware for executing instructions, such as those making up a computer program. By way of example, and not limitation, to execute instructions, processor 1602 may retrieve (or fetch) instructions from an internal register, an internal cache, memory 1604, or storage 1606, decode and execute them, and then write one or more results to an internal register, an internal cache, memory 1604, or storage 1606. In particular embodiments, processor 1602 may include one or more internal caches for data, instructions, or addresses. This disclosure contemplates that processor 1602 may include any suitable number of internal caches, where appropriate. By way of example, and not limitation, processor 1602 may include one or more instruction caches, one or more data caches, and one or more translation look-side buffers (TLBs). Instructions in an instruction cache may be copies of instructions in memory 1604 or storage 1606, and the instruction cache may speed up retrieval of these instructions by processor 1602. Data in the data cache may be a copy of data in memory 1604 or storage 1606 on which instructions executing on processor 1602 operate, may be the results of previous instructions executing on processor 1602 for access by subsequent instructions executing on processor 1602 or for writing to memory 1604 or storage 1606, or other suitable data. The data cache may speed up read or write operations by processor 1602. The TLB may speed up virtual address translation for processor 1602. In particular embodiments, processor 1602 may include one or more internal registers for data, instructions, or addresses. This disclosure contemplates that processor 1602 may include any suitable number of internal registers, where appropriate. Where appropriate, processor 1602 may include one or more arithmetic logic units (ALUs); may be a multi-core processor; or may include one or more processors 1602. While this disclosure describes and illustrates a particular processor, this disclosure contemplates any suitable processor.

[0068] In particular embodiments, memory 1604 includes main memory for storing instructions for processor 1602 to execute or data for processor 1602 to operate on. By way of example and not limitation, computer system 1600 may load instructions into memory 1604 from storage 1606 or another source (e.g., another computer system 1600). Processor 1602 may then load the instructions from memory 1604 into an internal register or cache. To execute instructions, processor 1602 may retrieve the instructions from the internal register or cache and decode them. During or after execution of an instruction, processor 1602 may write one or more results (which may be intermediate or final results) to an internal register or cache. Processor 1602 may then write one or more of those results to memory 1604. In particular embodiments, processor 1602 executes only instructions stored in one or more internal registers or internal caches or memory 1604 (as opposed to storage 1606 or elsewhere) and operates only on data stored in one or more internal registers or internal caches or memory 1604 (as opposed to storage 1606 or elsewhere). One or more memory buses (which may each include an address bus and a data bus) may couple processor 1602 to memory 1604. Bus 1612 may include one or more memory buses, as described below. In particular embodiments, one or more memory management units (MMUs) reside between processor 1602 and memory 1604 to facilitate accesses to memory 1604 requested by processor 1602. In particular embodiments, memory 1604 includes random access memory (RAM). This RAM may be volatile memory, where appropriate. Where appropriate, this RAM may be dynamic RAM (DRAM) or static RAM (SRAM). Further, where appropriate, this RAM may be single-ported RAM or multi-ported RAM. This disclosure contemplates any suitable RAM. Memory 1604 may include one or more memories 1604, where appropriate.Although this disclosure describes and illustrates particular memory, this disclosure contemplates any suitable memory.

[0069] In particular embodiments, storage 1606 includes mass storage for data or instructions. By way of example, and without limitation, storage 1606 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more thereof. Storage 1606 may include removable or non-removable (or fixed) media, where appropriate. Storage 1606 may be internal or external to computer system 1600, where appropriate. In particular embodiments, storage 1606 is non-volatile solid-state memory. In particular embodiments, storage 1606 includes read-only memory (ROM). Where appropriate, this ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory, or a combination of two or more thereof. The present disclosure contemplates mass storage 1606 taking any suitable physical form. Storage 1606 may include, where appropriate, one or more storage control units that facilitate communications between processor 1602 and storage 1606. Where appropriate, storage 1606 may include one or more storages 1606. Although this disclosure describes and illustrates particular storage, this disclosure contemplates any suitable storage.

[0070] In particular embodiments, I / O interface 1608 includes hardware, software, or both that provide one or more interfaces for communication between computer system 1600 and one or more I / O devices. Computer system 1600 may include one or more of these I / O devices, where appropriate. One or more of these I / O devices may enable communication between a person and computer system 1600. By way of example, and without limitation, an I / O device may include a keyboard, keypad, microphone, monitor, mouse, printer, scanner, speaker, still camera, stylus, tablet, touch screen, trackball, video camera, another suitable I / O device, or a combination of two or more thereof. An I / O device may include one or more sensors. This disclosure contemplates any suitable I / O device and any suitable I / O interface 1608 therefor. Where appropriate, I / O interface 1608 may include one or more device or software drivers that enable processor 1602 to drive one or more of these I / O devices. I / O interface 1608 may include, where appropriate, one or more I / O interfaces 1608. Although this disclosure describes and illustrates a particular I / O interface, this disclosure contemplates any suitable I / O interface.

[0071] In particular embodiments, communication interface 1610 includes hardware, software, or both that provide one or more interfaces for communications (e.g., packet-based communications, etc.) between computer system 1600 and one or more other computer systems 1600 or one or more networks. By way of example and not limitation, communication interface 1610 may include a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wired-based network, or a wireless NIC (WNIC) or wireless adapter for communicating with a wireless network, such as a Wi-Fi network. This disclosure contemplates any suitable network and any suitable communication interface 1610 therefor. By way of example and not limitation, computer system 1600 may communicate with an ad-hoc network, a personal area network (PAN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), or one or more portions of the Internet, or a combination of two or more of these. One or more portions of these networks may be wired or wireless. As an example, computer system 1600 may communicate with a wireless PAN (WPAN) (e.g., a BLUETOOTH WPAN, etc.), a Wi-Fi network, a Wi-MAX network, a cellular network (e.g., a Global System for Mobile Communications (GSM) network, etc.), or other suitable wireless network, or a combination of two or more of these. Computer system 1600 may include any suitable communication interface 1610 for any of these networks, where appropriate. Communication interface 1610 may include one or more communication interfaces 1610, where appropriate. Although this disclosure describes and illustrates a particular communication interface, this disclosure contemplates any suitable communication interface.

[0072] In particular embodiments, bus 1612 includes hardware, software, or both that couples together the components of computer system 1600. By way of example, and not limitation, bus 1612 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an INFINIBAND interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCIe) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or another suitable bus, or a combination of two or more thereof. Bus 1612 may include one or more buses 1612, where appropriate. Although this disclosure describes and illustrates a particular bus, this disclosure contemplates any suitable bus or interconnect.

[0073] Here, computer-readable non-transitory storage media or media may include one or more semiconductor-based or other integrated circuits (ICs) (e.g., field programmable gate arrays (FPGAs) or application-specific ICs (ASICs)), hard disk drives (HDDs), hybrid hard drives (HHDs), optical disks, optical disk drives (ODDs), magneto-optical disks, magneto-optical drives, floppy disks, floppy disk drives (FDDs), magnetic tape, SSDs, RAM drives, SECURE DIGITAL cards or drives, or any other suitable computer-readable non-transitory storage media, or any suitable combination of two or more thereof, as appropriate. Computer-readable non-transitory storage media may be volatile, non-volatile, or a combination of volatile and non-volatile, as appropriate.

[0074] As used herein, "or" is inclusive and not exclusive, unless expressly indicated otherwise or indicated otherwise by context. Thus, as used herein, "A or B" means "A, B, or both," unless expressly indicated otherwise or indicated otherwise by context. Furthermore, "and" means both joint and plural, unless expressly indicated otherwise or indicated otherwise by context. Thus, as used herein, "A and B" means "A and B, jointly or severally," unless expressly indicated otherwise or indicated otherwise by context.

[0075] The scope of the present disclosure encompasses all changes, substitutions, variations, alterations, and modifications to the exemplary embodiments described or illustrated herein that would be understood by a person of ordinary skill in the art. The scope of the present disclosure is not limited to the exemplary embodiments described or illustrated herein. Furthermore, although the present disclosure describes and illustrates each embodiment herein as including particular components, elements, features, functions, operations, or steps, any of these embodiments may include any combination or permutation of the components, elements, features, functions, operations, or steps described or illustrated anywhere herein that would be understood by a person of ordinary skill in the art. Furthermore, references in the appended claims to a device or system or a component of a device or system being adapted, arranged, capable, configured, enabled, operable, or operable to perform a particular function encompass the device, system, or component being so adapted, arranged, capable, configured, enabled, operable, or operable, regardless of whether the device or particular function is activated, on, or locked. Furthermore, the scope of the present disclosure encompasses all advantages of the exemplary embodiments described or illustrated herein that would be understood by a person of ordinary skill in the art. The scope of the present disclosure is not limited to the particular advantages specifically described or illustrated herein.

Claims

1. collecting magnetometry data of a specific geomagnetic region by a magnetic navigation device according to the position and trajectory of the magnetic navigation device; Invoking Global Navigation Satellite System (GNSS) signal status and network connection status on the magnetic navigation device; determining an operation mode of the magnetic navigation device based on the GNSS and the network connection status; determining whether to transmit the magnetometry data to a server or store the magnetometry data locally on the magnetic navigation device based on the operational mode; performing a navigation or localization operation using the operational mode; A method having the following.

2. 2. The method of claim 1, wherein the operation mode is a normal mode, a GNSS denial mode, a network denial mode, or a blind mode.

3. 3. The method of claim 2, The operational mode of the magnetic navigation device is a normal mode when the magnetic navigation device has a reliable GNSS signal and a reliable network connection; When the magnetic navigation system operates in a normal mode, the magnetic navigation system: updating geomagnetic map data by transmitting the magnetic measurement data to the server; performing a navigation operation or a self-localization operation using the GNSS signal; The method is operable to:

4. 4. The method of claim 3, downloading an updated geomagnetic map to the magnetic navigation device; Navigating using the GNSS signals, inertial navigation system (INS) measurement data, and the updated geomagnetic map; comparing navigation results from the GNSS signals, navigation results from the INS measurement data, and navigation results from the updated geomagnetic map; a step of further updating the updated geomagnetic map data by transmitting the navigation result or the comparison to the server; The method further comprises:

5. 10. The method of claim 1, the operational mode of the magnetic navigation device is a GNSS denial mode when the magnetic navigation device has an unreliable GNSS signal and a reliable network connection; When the magnetic navigation system operates in a GNSS-denied mode, the magnetic navigation system: updating geomagnetic map data by transmitting the magnetic measurement data to the server; downloading updated geomagnetic map data from the server to the magnetic navigation device; performing navigation or localization operations using one or more of the inertial navigation system (INS) measurement data or the updated geomagnetic map data; The method is operable to:

6. 10. The method of claim 1, the operational mode of the magnetic navigation device is a network denial mode when the magnetic navigation device has a reliable GNSS signal but an unreliable network connection; When the magnetic navigation device operates in a network-denied mode, the magnetic navigation device: storing the magnetic measurement data in a memory of the magnetic navigation device for subsequent transmission to the server; performing a navigation operation or a self-localization operation using the GNSS signal; The method is operable to:

7. 10. The method of claim 1, the operational mode of the magnetic navigation device is a blind mode when the magnetic navigation device has an unreliable GNSS signal and an unreliable network connection; When the magnetic navigation system operates in a blind mode, the magnetic navigation system: storing the magnetic measurement data in a memory of the magnetic navigation device for subsequent transmission to the server; performing navigation or localization operations using one or more of Inertial Navigation System (INS) measurement data or current magnetic map data stored in the memory of the magnetic navigation device; The method is operable to:

8. 2. The method of claim 1, wherein the magnetic navigation system comprises: a processing system; a magnetic sensor system; a Global Navigation Satellite System (GNSS) receiver; Inertial Navigation System (INS) and A wireless module; a memory operable to store a magnetic navigation application, geomagnetic map information, and user interface (UI) map information; A method comprising:

9. The method of claim 1 , wherein the magnetic navigation device is a mobile phone, an automatic navigation system, a marine navigation system, or an air navigation system.

10. The method of claim 1 , wherein the server is a mapping server or a region server.

11. When executed on a computer system that includes a magnetic navigation device with a Global Navigation Satellite System (GNSS), collecting magnetic measurement data of a specific geomagnetic region according to the position and trajectory of the magnetic navigation device; Invoking the GNSS signal status and network connection status on the magnetic navigation device; determining an operation mode of the magnetic navigation device based on the GNSS and the network connection status; determining whether to transmit the magnetometry data to a server or store the magnetometry data locally on the magnetic navigation device based on the operational mode; performing navigation or localization operations using said operational mode; One or more computer-readable non-transitory storage media that implement software that causes the computer system to function in such a manner.

12. 12. The medium of claim 11, wherein the operating mode is a normal mode, a GNSS denial mode, a network denial mode, or a blind mode.

13. 13. The medium of claim 12, The operational mode of the magnetic navigation device is a normal mode when the magnetic navigation device has a reliable GNSS signal and a reliable network connection; When the magnetic navigation system is operating in a normal mode, the software, when executed, updating geomagnetic map data by transmitting the magnetic measurement data to the server; performing a navigation operation or a self-localization operation using the GNSS signal; A medium that is operable to

14. 14. The medium of claim 13, wherein the software further comprises: downloading an updated geomagnetic map to said magnetic navigation device; Navigating using the GNSS signals, inertial navigation system (INS) measurement data, and the updated geomagnetic map; comparing the navigation results from the GNSS signals, the navigation results from the INS measurement data, and the navigation results from the updated geomagnetic map; Further updating the updated geomagnetic map data by transmitting the navigation results or the comparison to the server. A medium capable of operating in this way.

15. 12. The medium of claim 11, the operational mode of the magnetic navigation device is a GNSS denial mode when the magnetic navigation device has an unreliable GNSS signal and a reliable network connection; If the magnetic navigation system is operating in GNSS denial mode, the software, when executed, updating geomagnetic map data by transmitting the magnetic measurement data to the server; downloading updated geomagnetic map data from the server to the magnetic navigation device; performing navigation or localization operations using one or more of the inertial navigation system (INS) measurement data or the updated geomagnetic map data; A medium that is operable to

16. 12. The medium of claim 11, the operational mode of the magnetic navigation device is a network denial mode when the magnetic navigation device has a reliable GNSS signal but an unreliable network connection; If the magnetic navigation system is operating in a network-denied mode, the software, when executed, storing the magnetic measurement data in a memory of the magnetic navigation device for subsequent transmission to the server; performing a navigation operation or a self-localization operation using the GNSS signal; A medium that is operable to

17. 12. The medium of claim 11, the operational mode of the magnetic navigation device is a blind mode when the magnetic navigation device has an unreliable GNSS signal and an unreliable network connection; If the magnetic navigation system is operating in a blind mode, the software, when executed, storing the magnetic measurement data in a memory of the magnetic navigation device for subsequent transmission to the server; performing navigation or localization operations using one or more of Inertial Navigation System (INS) measurement data or current magnetic map data stored in the memory of the magnetic navigation device; A medium that is operable to

18. 12. The medium of claim 11, wherein the magnetic navigation system comprises: a processing system; a magnetic sensor system; a Global Navigation Satellite System (GNSS) receiver; Inertial Navigation System (INS) and A wireless module; a memory operable to store a magnetic navigation application, geomagnetic map information, and user interface (UI) map information; A medium comprising:

19. 12. The medium of claim 11, wherein the magnetic navigation device is a mobile phone, an automatic navigation system, a marine navigation system, or an air navigation system.

20. 12. The medium of claim 11, wherein the server is a mapping server or a region server.

21. one or more processing units; one or more computer-readable non-transitory storage media coupled to the one or more processing devices; A system comprising: The computer-readable non-transitory storage medium, when executed by the one or more processing devices, provides the system with: causing a magnetic navigation device to collect magnetometry data of a specific geomagnetic region according to the position and trajectory of the magnetic navigation device; Invoking Global Navigation Satellite System (GNSS) signal status and network connection status on the magnetic navigation device; determining an operation mode of the magnetic navigation device based on the GNSS and the network connection status; determining whether to transmit the magnetic measurement data to a server or store the magnetic measurement data locally on the magnetic navigation device based on the operational mode; performing a navigation or localization operation using the operational mode; The system has instructions operable to:

22. 22. The system of claim 21, wherein the operational mode is a normal mode, a GNSS denial mode, a network denial mode, or a blind mode.

23. 23. The system of claim 22, The operational mode of the magnetic navigation device is a normal mode when the magnetic navigation device has a reliable GNSS signal and a reliable network connection; When the magnetic navigation system is operating in a normal mode, the instructions, when executed by the one or more processing units, cause the system to: transmitting the magnetic measurement data to the server to update geomagnetic map data; performing a navigation operation or a self-position estimation operation using the GNSS signal; A system capable of operating as follows.

24. 24. The system of claim 23, wherein the instructions, when executed by the one or more processing units, cause the system to: downloading an updated geomagnetic map to said magnetic navigation device; Navigating using the GNSS signals, inertial navigation system (INS) measurement data, and the updated geomagnetic map; comparing the navigation results from the GNSS signals, the navigation results from the INS measurement data, and the navigation results from the updated geomagnetic map; transmitting the navigation result or the comparison to the server to further update the updated geomagnetic map data; A system capable of operating as follows.

25. 22. The system of claim 21, the operational mode of the magnetic navigation device is a GNSS denial mode when the magnetic navigation device has an unreliable GNSS signal and a reliable network connection; If the magnetic navigation system is operating in a GNSS-denied mode, the instructions, when executed by the one or more processing units, cause the system to: transmitting the magnetic measurement data to the server to update geomagnetic map data; downloading updated geomagnetic map data from the server to the magnetic navigation device; performing navigation or localization operations using one or more of the inertial navigation system (INS) measurement data or the updated geomagnetic map data; A system capable of operating as follows.

26. 22. The system of claim 21, the operational mode of the magnetic navigation device is a network denial mode when the magnetic navigation device has a reliable GNSS signal but an unreliable network connection; If the magnetic navigation system is operating in a network-denied mode, the instructions, when executed by the one or more processing units, provide the system with: storing the magnetic measurement data in a memory of the magnetic navigation device for subsequent transmission to the server; performing a navigation operation or a self-position estimation operation using the GNSS signal; A system capable of operating as follows.

27. 22. The system of claim 21, the operational mode of the magnetic navigation device is a blind mode when the magnetic navigation device has an unreliable GNSS signal and an unreliable network connection; If the magnetic navigation system is operating in a blind mode, the instructions, when executed, cause the system to: storing the magnetic measurement data in a memory of the magnetic navigation device for subsequent transmission to the server; performing navigation or localization operations using one or more of Inertial Navigation System (INS) measurement data or current magnetic map data stored in the memory of the magnetic navigation device; A system capable of operating as follows.

28. 22. The system of claim 21, wherein the magnetic navigation device comprises: a processing system; a magnetic sensor system; a Global Navigation Satellite System (GNSS) receiver; Inertial Navigation System (INS) and A wireless module; a memory operable to store a magnetic navigation application, geomagnetic map information, and user interface (UI) map information; A system comprising:

29. 22. The system of claim 21, wherein the magnetic navigation device is a mobile phone, an automated navigation system, a marine navigation system, or an air navigation system.

30. 22. The system of claim 21, wherein the server is a mapping server or a region server.

31. means for collecting, by a magnetic navigation device, magnetometry data of a specific geomagnetic region according to the position and trajectory of the magnetic navigation device; means for invoking Global Navigation Satellite System (GNSS) signal status and network connection status on said magnetic navigation device; means for determining an operation mode of the magnetic navigation device based on the GNSS and the network connection status; means for determining whether to transmit the magnetometry data to a server or store the magnetometry data locally on the magnetic navigation device based on the mode of operation; means for performing navigation or localization operations using said operational mode; A system comprising:

Images