Magnetic field mapping system, device, and method

Indoor Magnetic Field Mapping System Combining Wheel Odometry and Magnetic Sensors

This technology is a magnetic field mapping system and device that generates magnetic field maps for indoor and outdoor spaces by estimating the position of a mobile object based on wheel rotation data and combining it with magnetic field intensity and direction data acquired via magnetic sensors at those positions.

Indoor and underground spaces are inaccessible to satellite navigation system signals, and existing communication network-based positioning methods have faced limitations in accuracy and errors depending on the density of base station installations.

This technology proposes a method of acquiring information, including wheel rotation angles, from a mobile object's encoder and selecting positions at preset intervals to measure magnetic field data, enabling the construction of precise magnetic field maps without the need for additional infrastructure. It can be utilized for positioning services in underground parking lots and large indoor facilities, as well as for logistics robot navigation, providing an economical solution to the problem of location recognition in GPS-denied areas.

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Key Features:

• A mobile object that travels within a space in response to wheel rotation and acquires wheel rotation data
• A magnetic field mapping device that determines position based on wheel rotation data and measures the magnetic field at that position
• A configuration that selects positions at preset intervals from among the positions calculated based on wheel rotation data
• Generates a magnetic field map of the space based on magnetic field data corresponding to the selected positions