Generating a Geomagnetic Map

Abstract

In one embodiment, a method includes, by a magnetic-measurement device, collecting on ore more magnetic measurements in association with a position and trajectory of the magnetic-measurement device; determining a velocity of the magnetic-measurement device; generating localization information for the magnetic-measurement device based at least in part on the velocity of the magnetic-measurement device; recording the localization information associated with the magnetic measurements; and communicating the localization information and the magnetic measurements for incorporation into a geomagnetic map.

What is claimed is: 
     
         1 . A method comprising:
 by a magnetic-measurement device, collecting one or more magnetic measurements in association with a position and trajectory of the magnetic-measurement device;   by the magnetic-measurement device, determining a velocity of the magnetic-measurement device;   by the magnetic-measurement device, generating localization information for the magnetic-measurement device based at least in part on the velocity of the magnetic-measurement device;   by the magnetic-measurement device, recording the localization information associated with the magnetic measurements; and   by the magnetic-measurement device, communicating the localization information and the magnetic measurements for incorporation into a geomagnetic map.   
     
     
         2 . The method of  claim 1 , wherein the localization information and the magnetic measurements are communicated to a server. 
     
     
         3 . The method of  claim 2 , wherein the server is a mapping server or a regional server. 
     
     
         4 . The method of  claim 3 , wherein the server is colocated at least in part with the magnetic-measurement device. 
     
     
         5 . The method of  claim 1 , further comprising incorporating into the geomagnetic map the localization information and the magnetic measurements. 
     
     
         6 . The method of  claim 5 , wherein the localization information and the magnetic measurements are incorporated into the geomagnetic map by the magnetic-measurement device. 
     
     
         7 . The method of  claim 5 , wherein the localization information and the magnetic measurements are incorporated into the geomagnetic map by a server. 
     
     
         8 . The method of  claim 1 , wherein:
 the method further comprises determining that localization by the magnetic-measurement device using a global navigation satellite system (GNSS) is unavailable; and   the velocity of the magnetic-measurement device is determined and the localization information is generated based at least in part on the velocity of the magnetic-measurement device in response to localization by the magnetic-measurement device using the GNSS being unavailable.   
     
     
         9 . The method of  claim 1 , wherein the velocity of the magnetic-measurement device is determined, at least in part, using an inertial measurement unit (IMU) of the magnetic-measurement device. 
     
     
         10 . The method of  claim 1 , wherein the velocity of the magnetic-measurement device is determined, at least in part, by dead reckoning. 
     
     
         11 . The method of  claim 1 , wherein the magnetic-measurement device is one or more of a mobile phone, an automotive navigation system, a marine navigation system, an aerial navigation system, a drone, a robot, or a forklift. 
     
     
         12 . The method of  claim 1 , wherein the velocity of the magnetic-measurement device is determined, at least in part, using one or more of the magnetic measurements. 
     
     
         13 . One or more computer-readable non-transitory storage media embodying software that is operable when executed to:
 by a magnetic-measurement device, collect one or more magnetic measurements in association with a position and trajectory of the magnetic-measurement device;   by the magnetic-measurement device, determine a velocity of the magnetic-measurement device;   by the magnetic-measurement device, generate localization information for the magnetic-measurement device based at least in part on the velocity of the magnetic-measurement device;   by the magnetic-measurement device, record the localization information associated with the magnetic measurements; and   by the magnetic-measurement device, communicate the localization information and the magnetic measurements for incorporation into a geomagnetic map.   
     
     
         14 . The media of  claim 13 , wherein the localization information and the magnetic measurements are communicated to a server. 
     
     
         15 . The media of  claim 14 , wherein the server is a mapping server or a regional server. 
     
     
         16 . The method of  claim 15 , wherein the server is colocated at least in part with the magnetic-measurement device. 
     
     
         17 . The media of  claim 13 , wherein the software is further operable when executed to incorporate into the geomagnetic map the localization information and the magnetic measurements. 
     
     
         18 . The media of  claim 17 , wherein the localization information and the magnetic measurements are incorporated into the geomagnetic map by the magnetic-measurement device. 
     
     
         19 . The media  claim 17 , wherein the localization information and the magnetic measurements are incorporated into the geomagnetic map by a server. 
     
     
         20 . The media of  claim 13 , wherein:
 the software is further operable when executed to determine that localization by the magnetic-measurement device using a global navigation satellite system (GNSS) is unavailable; and   the velocity of the magnetic-measurement device is determined and the localization information is generated based at least in part on the velocity of the magnetic-measurement device in response to localization by the magnetic-measurement device using the GNSS being unavailable.   
     
     
         21 . The media of  claim 13 , wherein the velocity of the magnetic-measurement device is determined, at least in part, using an inertial measurement unit (IMU) of the magnetic-measurement device. 
     
     
         22 . The media of  claim 13 , wherein the velocity of the magnetic-measurement device is determined, at least in part, by dead reckoning. 
     
     
         23 . The media of  claim 13 , wherein the magnetic-measurement device is one or more of a mobile phone, an automotive navigation system, a marine navigation system, an aerial navigation system, a drone, a robot, or a forklift. 
     
     
         24 . The media of  claim 13 , wherein the velocity of the magnetic-measurement device is determined, at least in part, using one or more of the magnetic measurements. 
     
     
         25 . An apparatus for incorporating one or more regional magnetic data sets into a master geomagnetic map, wherein the apparatus comprises:
 one or more processors; and   one or more computer-readable non-transitory storage media coupled to the processors that embody software that is operable when executed by the processors to:
 by a magnetic-measurement device, collect one or more magnetic measurements in association with a position and trajectory of the magnetic-measurement device; 
 by the magnetic-measurement device, determine a velocity of the magnetic-measurement device; 
 by the magnetic-measurement device, generate localization information for the magnetic-measurement device based at least in part on the velocity of the magnetic-measurement device; 
 by the magnetic-measurement device, record the localization information associated with the magnetic measurements; and 
 by the magnetic-measurement device, communicate the localization information and the magnetic measurements for incorporation into a geomagnetic map. 
   
     
     
         26 . The media of  claim 25 , wherein the localization information and the magnetic measurements are communicated to a server. 
     
     
         27 . The media of  claim 26 , wherein the server is a mapping server or a regional server. 
     
     
         28 . The method of  claim 27 , wherein the server is colocated at least in part with the magnetic-measurement device. 
     
     
         29 . The media of  claim 25 , wherein the software is further operable when executed to incorporate into the geomagnetic map the localization information and the magnetic measurements. 
     
     
         30 . The media of  claim 29 , wherein the localization information and the magnetic measurements are incorporated into the geomagnetic map by the magnetic-measurement device. 
     
     
         31 . The media  claim 29 , wherein the localization information and the magnetic measurements are incorporated into the geomagnetic map by a server. 
     
     
         32 . The media of  claim 25 , wherein:
 the software is further operable when executed to determine that localization by the magnetic-measurement device using a global navigation satellite system (GNSS) is unavailable; and   the velocity of the magnetic-measurement device is determined and the localization information is generated based at least in part on the velocity of the magnetic-measurement device in response to localization by the magnetic-measurement device using the GNSS being unavailable.   
     
     
         33 . The media of  claim 25 , wherein the velocity of the magnetic-measurement device is determined, at least in part, using an inertial measurement unit (IMU) of the magnetic-measurement device. 
     
     
         34 . The media of  claim 25 , wherein the velocity of the magnetic-measurement device is determined, at least in part, by dead reckoning. 
     
     
         35 . The media of  claim 25 , wherein the magnetic-measurement device is one or more of a mobile phone, an automotive navigation system, a marine navigation system, an aerial navigation system, a drone, a robot, or a forklift. 
     
     
         36 . The media of  claim 25 , wherein the velocity of the magnetic-measurement device is determined, at least in part, using one or more of the magnetic measurements. 
     
     
         37 . A system comprising:
 means for collecting one or more magnetic measurements in association with a position and trajectory of the magnetic-measurement device;   means for determining a velocity of the magnetic-measurement device;   means for generating localization information for the magnetic-measurement device based at least in part on the velocity of the magnetic-measurement device;   means for recording the localization information associated with the magnetic measurements; and   means for communicating the localization information and the magnetic measurements for incorporation into a geomagnetic map.