Operating Modes of Magnetic Navigation Devices

Abstract

In one embodiment, a method includes, by a magnetic-measurement device, taking magnetic measurements as the magnetic-measurement device traverses a path. The magnetic measurements correspond to positions of the magnetic-measurement device along the path. The method also includes, by the magnetic-measurement device, recording at least some of the magnetic measurements.

1 . A method comprising:
 by a magnetic-measurement device, taking magnetic measurements as the magnetic-measurement device traverses a path, wherein the magnetic measurements correspond to positions of the magnetic-measurement device along the path; and   by the magnetic-measurement device, recording at least some of the magnetic measurements.   
     
     
         2 . The method of  claim 1 , further comprising retraversing forward or backward at least a portion of the path using at least some of the magnetic measurements. 
     
     
         3 . The method of  claim 1 , further comprising:
 by the magnetic-measurement device, determining at least some of the positions corresponding to at least some of the magnetic measurements; and   by the magnetic-measurement device, recording at least some of the positions with at least some of the magnetic measurements.   
     
     
         4 . The method of  claim 3 , wherein at least some of the positions are determined at least in part by dead reckoning using at least some of the magnetic measurements. 
     
     
         5 . The method of  claim 3 , wherein at least some of the positions are determined at least in part using inertial measurements taken by an inertial-navigation system (INS) of the magnetic-measurement device as the magnetic-measurement device traverses at least a portion of the path. 
     
     
         6 . The method of  claim 3 , wherein at least some of the positions are determined at least in part using global navigation satellite system (GNSS) signals received by a GNSS receiver of the magnetic-measurement device as the magnetic-measurement device traverses at least a portion of the path. 
     
     
         7 . The method of  claim 3 , wherein at least some of the positions are determined at least in part using wireless-communication signals received by a communication module of the magnetic-measurement device as the magnetic-measurement device traverses at least a portion of the path. 
     
     
         8 . The method of  claim 3 , further comprising:
 incorporating at least some of the magnetic measurements and corresponding positions into one or more portions of a magnetic map; and   recording one or more portions of the magnetic map with the incorporated magnetic measurements and corresponding positions.   
     
     
         9 . The method of  claim 8 , wherein incorporating at least some of the magnetic measurements and corresponding positions into one or more portions of the magnetic map comprises generating one or more portions of the magnetic map with at least some of the magnetic measurements and corresponding positions. 
     
     
         10 . The method of  claim 8 , wherein incorporating at least some of the magnetic measurements and corresponding positions into one or more portions of the magnetic map comprises updating one or more portions of the magnetic map with at least some of the magnetic measurements and corresponding positions. 
     
     
         11 . The method of  claim 3 , further comprising communicating at least some of the magnetic measurements and corresponding positions to a computing device to be incorporated into one or more portions of a magnetic map. 
     
     
         12 . The method of  claim 1 , wherein the magnetic-measurement device comprises:
 a processing system;   a magnetic-sensor system.   
     
     
         13 . The method of  claim 12 , wherein the magnetic-measurement device further comprises memory operable to store at least some of the magnetic measurements. 
     
     
         14 . The method of  claim 13 , wherein the magnetic-measurement device further comprises one or more of:
 a global navigation satellite system (GNSS) receiver;   an inertial navigation system (INS); or   a communication module.   
     
     
         15 . The method of  claim 1 , further comprising navigating or localizing based at least in part on some of the magnetic measurements. 
     
     
         16 . The method of  claim 1 , further comprising:
 determining that one or more of the magnetic measurements are outside a predetermined range; and   communicating a signal indicating that one or more of the magnetic measurements are outside the predetermined range to trigger a predetermined action.   
     
     
         17 . An apparatus comprising:
 a magnetic-sensor system operable to take magnetic measurements as the apparatus traverses a path, wherein the magnetic measurements correspond to positions of the apparatus along the path; and   a processing system operable to record at least some of the magnetic measurements.   
     
     
         18 . The apparatus of  claim 17 , wherein the processing system is further operable to navigate along at least a portion of the path using at least some of the magnetic measurements to retraverse forward or backward at least a portion of the path. 
     
     
         19 . The apparatus of  claim 17 , wherein the processing system is further operable to:
 determine at least some of the positions corresponding to at least some of the magnetic measurements; and   record at least some of the positions with at least some of the magnetic measurements.   
     
     
         20 . The apparatus of  claim 19 , wherein the processing system is operable to determine at least some of the positions at least in part by dead reckoning using at least some of the magnetic measurements. 
     
     
         21 . The apparatus of  claim 19 , wherein the processing system is operable to determine at least some of the positions at least in part using inertial measurements taken by an inertial-navigation system (INS) of the magnetic-measurement device as the magnetic-measurement device traverses at least a portion of the path. 
     
     
         22 . The apparatus of  claim 19 , wherein the processing system is operable to determine at least some of the positions at least in part using global navigation satellite system (GNSS) signals received by a GNSS receiver of the magnetic-measurement device as the magnetic-measurement device traverses at least a portion of the path. 
     
     
         23 . The apparatus of  claim 19 , wherein the processing system is operable to determine at least some of the positions at least in part using wireless-communication signals received by a communication module of the magnetic-measurement device as the magnetic-measurement device traverses at least a portion of the path. 
     
     
         24 . The apparatus of  claim 19 , wherein the processing system is further operable to:
 incorporate at least some of the magnetic measurements and corresponding positions into one or more portions of a magnetic map; and   record one or more portions of the magnetic map with the incorporated magnetic measurements and corresponding positions.   
     
     
         25 . The apparatus of  claim 24 , wherein incorporating at least some of the magnetic measurements and corresponding positions into one or more portions of the magnetic map comprises generating one or more portions of the magnetic map with at least some of the magnetic measurements and corresponding positions. 
     
     
         26 . The apparatus of  claim 24 , wherein incorporating at least some of the magnetic measurements and corresponding positions into one or more portions of the magnetic map comprises updating one or more portions of the magnetic map with at least some of the magnetic measurements and corresponding positions. 
     
     
         27 . The apparatus of  claim 17 , further comprising memory operable to store at least some of the magnetic measurements. 
     
     
         28 . The apparatus of  claim 27 , further comprising one or more of:
 a global navigation satellite system (GNSS) receiver;   an inertial navigation system (INS); or   a communication module.   
     
     
         29 . The apparatus of  claim 17 , wherein the processing system is further operable to navigate or localize based at least in part on some of the magnetic measurements. 
     
     
         30 . The apparatus of  claim 17 , wherein the processing system is further operable to:
 determine that one or more of the magnetic measurements are outside a predetermined range; and   communicate a signal indicating that one or more of the magnetic measurements are outside the predetermined range to trigger a predetermined action.