GB2592894A - Method and system for geotracking objects - Google Patents

Abstract

A method of geo-tracking an object carrying tracking platform, includes receiving, at a processor of a tracking platform, information indicative of a reference point associated with the object, from a reference location device 1002. The information indicative of the reference point with a timestamp is stored in memory of the tracking platform 1004. Measurements associated with reference point are received from inertial measurement unit of the tracking platform 1006. A displacement vector associated with the reference point and time periods associated with corresponding stationary states of the tracking platform with respect to the object, are determined while the tracking platform is in a motion state or a stationary state with respect to the object. The displacement vector is stored with the reference point and time periods 11010. A current location of object with respect to Earth coordinates is determined, based on displacement vector with reference point and time periods, for geo-tracking the object 1012.

Description

METHOD AND SYSTEM FOR GEOTRACKING OBJECTS

TECHNICAL FIELD

The present disclosure relates to systems that geotrack objects carrying 5 tracking platforms. Moreover, the present disclosure relates to methods for (namely, to methods of) geotracking objects carrying tracking platforms.

BACKGROUND

Advancements in telecommunication technology have allowed users to access various location-dependent services. For example, service providers employ determined locations of users' mobile phones for offering various products to the users and/or for customizing services to the users based on the users' locations. For example, retail outlets track movements of their patrons through monitoring of the patrons' mobile phones, for customizing offers and promotions associated with products located in a vicinity of the patrons. In another example, a given user can be geotracked by determining a location of a connected-vehicle (for example, an automobile ("car") capable of transmitting and receiving information from the Internet) driven by the given user.

In certain scenarios, governmental organizations regularly monitor locations of users' mobile phones for safety improvement purposes. In a crisis situation (such as, an earthquake resulting in destruction of property), accurate geotracking of users' mobile phones allows governmental organizations to deploy emergency communication, potentially savings thousands of lives in the process. Consequently, accurate geotracking of users through their mobile phones is becoming crucial in recent times. Generally, modern devices (such as a mobile phone, a connected-vehicle and so forth) comprise various components that allow a location thereof to be tracked. Such components can comprise, for example, an Inertial Measurement Unit (or "/MU"), various sensors (such as, a gyroscope, a magnetometer, an accelerometer and the like). However, such components are still limited in their ability to allow precise tracking of location of the devices having the components therein. For example, when a location of a user is required to be tracked through a mobile phone having an IMU therein, an accurate orientation of the IMU is required to be determined for reference. It will be appreciated that when a given user is not moving, an orientation of the given user's IMU can be determined to a fair degree of accuracy, such as, by causing the given user to hold his/her mobile phone, including an IMU, still or place the mobile phone on a flat surface. However, when the mobile phone, including the IMU, is carried on the given user when moving (such as, within a pocket of the given user, a handbag of the given user and so forth), it is not possible to determine accurately an orientation of the IMU with respect to the given user.

Moreover, when the location of the given user is determined using the IMU, complex mathematical models are required to be implemented to enable a determination to made of displacement associated with movement of the IMU, such as, due to the given user moving while carrying the mobile phone (for example, to account for a stride of the user). Consequently, implementation of such complex mathematical models (for example, as an Artificial Intelligence-based software) requires excessive memory and computational resources to be employed; when these complex mathematical models are hosted within battery operated devices, their execution places a burden on a battery of the battery-operated devices. Similarly, when determining locations of mobile phones using sensors incorporated therein is prone to accumulation of errors as a function of time and corresponds to a problem of "sensor drift". Thus, it will be appreciated that determining a location -3 -of a given device using conventional techniques is prone to errors and is generally problematic.

Therefore, there exists a need to overcome the various problems of 5 known art concerning systems and methods for geotracking objects.

SUMMARY

The present disclosure seeks to provide an improved method for (namely, an improved method of) geotracking an object carrying a tracking platform. The present disclosure also seeks to provide an improved system that, when in operation, geotracks an object carrying a tracking platform. The present disclosure seeks to provide an at least partial solution to a known problem of inaccuracies arising when executing geopositioning and geotracking of an object. An aim of the present disclosure is to provide a solution that overcomes, at least partially, the problems encountered in prior art, and provides a method and a system that effectively tracks an object to provide a real-time, or a near real-time, location determination of the object with respect to Earth's coordinates.

In one aspect, the present disclosure provides a method for geotracking an object carrying a tracking platform, the method comprising: -receiving, at a processor of the tracking platform, information indicative of a reference point associated with the object, from a reference location device, when the reference location device is in communication with the tracking platform, wherein the object is in a motion state or a stationary state with respect to earth coordinates, and wherein the reference point is indicative of an approximate location of the object based on the Earth coordinates; - storing, using the processor, the reference point along with a tinnestannp corresponding to the reference point, in a memory of the tracking platform; - receiving, at the processor, measurements associated with the 5 reference point, from an inertial measurement unit of the tracking platform; - determining, using the processor, using the measurements associated with the reference point: -a displacement vector associated with the reference point; and -one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object, wherein the tracking platform is in the motion state or the stationary state with respect to the object; - storing, using the processor, the displacement vector with the reference 15 point along with the timestannp and the one or more time periods, in the memory of the tracking platform; and - determining, using the processor, a current location of the object with respect to the earth coordinates, based on the displacement vector with the reference point along with the timestamp and the one or more time zo periods stored in the memory, to geotrack the object.

In another aspect, the present disclosure provides a system that, when in operation, geotracks an object carrying a tracking platform, the system comprising: a processor, a memory and an inertial measurement unit in the tracking 25 platform, wherein the processor is configured to: - receive information indicative of a reference point associated with the object, from a reference location device, when the reference location device is in communication with the tracking platform, wherein the object is in a motion state or a stationary state with respect to Earth coordinates, and wherein the reference point is indicative of an approximate location of the object based on the Earth coordinates; -store the reference point together with a timestamp corresponding to the reference point, in the memory of the tracking platform; - receive measurements associated with the reference point from the inertial measurement unit of the tracking platform; 5 -determine using the measurements associated with the reference point: - a displacement vector associated with the reference point; and - one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object, wherein the tracking platform is in the motion state or the stationary state with respect to the object; - store the displacement vector with the reference point together with the timestamp and the one or more time periods in the memory of the tracking platform; and - determine a current location of the object with respect to the Earth 15 coordinates, based on the displacement vector with the reference point together with the timestamp and the one or more time periods stored in the memory, to geotrack the object.

In yet another embodiment, the present disclosure also provides a computer program product comprising a non-transitory computer-readable storage medium having computer-readable instructions stored thereon, the computer-readable instructions being executable by a computerized device comprising processing hardware to execute the aforementioned method.

Embodiments of the present disclosure substantially eliminate, or at least partially address, the aforementioned problems in the prior art, and enable a more accurate current location of the object in real-time or near real-time to be determined. Moreover, based on the determined current location of the object, the object can be geotracked with precision when the object is in motion. The method for geotracking the object carrying the tracking platform takes into account an accumulated error in the inertial measurement unit, thereby making the method more accurate and precise compared to known conventional methods. Moreover, the method requires less amount of computational effort, and therefore is simpler to implement using modest computing devices. Furthermore, the 5 method requires less amount of memory as irrelevant data stored in the memory is removed periodically. Thus, such a method of geotracking the object is susceptible to being used in indoor as well as outdoor navigation services, location-based marketing and advertisement, augmented reality or virtual reality gaming and staff mobility tracking, healthcare 10 systems, for example, elderly tracking, and the like.

Additional aspects, advantages, features and objects of the present disclosure would be made apparent from the drawings and the detailed description of the illustrative embodiments construed in conjunction with the appended claims that follow.

It will be appreciated that features of the present disclosure are susceptible to being combined in various combinations without departing from the scope of the present disclosure as defined by the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The summary above, as well as the following detailed description of illustrative embodiments, is better understood when read in conjunction with the appended drawings. For the purpose of illustrating the present disclosure, exemplary constructions of the disclosure are shown in the drawings. However, the present disclosure is not limited to specific methods and instrumentalities disclosed herein. Moreover, those skilled in the art will understand that the drawings are not to scale. Wherever possible, like elements have been indicated by identical numbers.

Embodiments of the present disclosure will now be described, by way of example only, with reference to the following diagrams wherein: FIG. 1 is an illustration of an environment for operation of a system for geotracking an object carrying a tracking platform, in accordance with an embodiment of the present disclosure; FIG. 2 is an illustration that depicts a trajectory of an object with corresponding displacement vectors at different time periods, in accordance with an embodiment of the present disclosure; FIG. 3 is an illustration of an exemplary representation of reference points stored in a memory, in accordance with an embodiment of

the present disclosure;

FIG. 4 is a flowchart depicting a determination of time periods associated with corresponding stationary states of a tracking platform with respect to an object, in accordance with an embodiment

of the present disclosure;

FIG. 5 is an illustration of an exemplary representation of displacement vectors stored in a memory, in accordance with an embodiment of the present disclosure; FIG. 6 is an illustration of exemplary measurements taken by a three-dimensional accelerometer of an inertial measurement unit, in accordance with an embodiment of the present disclosure; FIG. 7 is a flowchart depicting removal of a displacement vector and its corresponding reference point, in accordance with an embodiment of the present disclosure; FIG. 8 is an illustration of an exemplary implementation of an optimization technique to determine a current location of an -a -object, in accordance with an embodiment of the present disclosure; FIG. 9 is an illustration of an estimation of an angle of rotation and a scale parameter associated with a tracking platform, in accordance with an embodiment of the present disclosure; and FIG. 10 is a flowchart of a method for geotracking an object carrying a tracking platform, in accordance with an embodiment of the present disclosure.

In the accompanying drawings, an underlined number is employed to represent an item over which the underlined number is positioned or an item to which the underlined number is adjacent. A non-underlined number relates to an item identified by a line linking the non-underlined number to the item. When a number is non-underlined and accompanied by an associated arrow, the non-underlined number is used to identify a general item at which the arrow is pointing.

DETAILED DESCRIPTION OF EMBODIMENTS

The following detailed description illustrates embodiments of the present disclosure and ways in which they can be implemented. Although some modes of carrying out the present disclosure have been disclosed, those skilled in the art would recognize that other embodiments for carrying out or practising the present disclosure are also possible.

In one aspect, the present disclosure provides a method of (for) geotracking an object carrying a tracking platform, the method 25 comprising: -receiving, at a processor of the tracking platform, information indicative of a reference point associated with the object, from a reference location device, when the reference location device is in communication with the -9 -tracking platform, wherein the object is in a motion state or a stationary state with respect to Earth coordinates, and wherein the reference point is indicative of an approximate location of the object based on the Earth coordinates; characterized in that - storing, using the processor, the reference point together with a timestamp corresponding to the reference point, in a memory of the 10 tracking platform; - receiving, using the processor, measurements associated with the reference point, from an inertial measurement unit of the tracking platform; - determining, using the processor, using the measurements associated 15 with the reference point: - a displacement vector associated with the reference point; and - one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object, wherein the tracking platform is in the motion state or the stationary state with respect to the object; - storing, using the processor, the displacement vector with the reference point together with the timestamp and the one or more time periods, in the memory of the tracking platform; and - determining, using the processor, a current location of the object with 25 respect to the Earth coordinates, based on the displacement vector with the reference point along with the timestamp and the one or more time periods stored in the memory, to geotrack the object.

In another aspect, the present disclosure provides a system that, when in operation, geotracks an object carrying a tracking platform, the system 30 comprising: a processor, a memory and an inertial measurement unit in the tracking platform, wherein the processor is configured to: - receive information indicative of a reference point associated with the object, from a reference location device, when the reference location device is in communication with the tracking platform, wherein the object is in a motion state or a stationary state with respect to Earth coordinates, and wherein the reference point is indicative of an approximate location of the object based on the Earth coordinates; characterized in that, the processor is further configured to: - store the reference point together with a timestamp corresponding to the reference point, in the memory of the tracking platform; - receive measurements associated with the reference point from the 15 inertial measurement unit of the tracking platform; - determine using the measurements associated with the reference point: - a displacement vector associated with the reference point; and - one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object, wherein the tracking platform is in the motion state or the stationary state with respect to the object; - store the displacement vector with the reference point together with the timestamp and the one or more time periods in the memory of the tracking platform; and -determine a current location of the object with respect to the Earth coordinates, based on the displacement vector with the reference point together with the timestamp and the one or more time periods stored in the memory, to geotrack the object.

The present disclosure provides the method and the system for 30 geotracking the object carrying the tracking platform. The processor of the tracking platform receives information indicative of the reference point associated with the object from the reference location device for determining the approximate location of the object with respect to Earth coordinates. Such receiving of the reference point from the reference location device (that can be implemented, for example, using a Global Navigation Satellite System) allows for convenient determination of the approximate location of the object without expenditure of excessive computational resources, memory and/or battery power associated with the tracking platform. Furthermore, the processor utilizes the reference point with the timestamp together with the displacement vector associated with the reference point and one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object. Such use of the one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object, allows an accurate determination of orientation of the tracking platform with respect to the object, thereby, reducing problems associated with displacement errors (such as, due to movement of the object and the tracking platform) and/or sensor drift. Moreover, the processor determines the current location of the object with respect to Earth coordinates by employing the displacement vector with the reference point together with the time stamp, as well as one or more time periods stored in the memory. It will be appreciated that such determination of the current location of the object by employing the displacement vector enables simpler computation methods to be used for determining the current location of the object. Moreover, the use of the one or more time periods stored in the memory allows only recent information to be employed to geotrack the object, thereby increasing an accuracy associated with determination of the current location of the object as well as reducing computational resources, memory and use of battery for determination of the current location of the object.

Correspondingly, the method and the system of the present disclosure -12 -enable various drawbacks associated with conventional systems and techniques for tracking location of objects to be overcome.

The present disclosure provides the method for geotracking the object carrying the tracking platform. The object refers to any entity that is potentially living or non-living that is carrying the tracking platform. For example, the object is a person (i.e., human being), a virtual personal assistant (such as an autonomous program or a bot), an autonomous vehicle, such as a drone, a semi-autonomous vehicle, a manned vehicle and so forth. The object is in a motion state or a stationary state with respect to Earth coordinates. The object is said to be in the motion state when a position of the object changes with respect to the Earth coordinates, whereas the object is said to be in the stationary state when the position of the object is constant with respect to the Earth coordinates. The Earth coordinates are optionally represented in any geographical coordinate system, such as a horizontal coordinate system having latitude and longitude, a geodetic system such as World Geodetic System (WGS 84), North American Datum 27 (NAD27), North American Datum 83 (NAD83) and so forth. The object is potentially in a continuous motion state, a continuous stationary state, or in the motion state for some period of time and in the stationary state for another period of time with respect to the Earth coordinates.

The tracking platform is an electronic device that beneficially includes suitable logic, circuitry, interfaces and/or code carried by the object that needs to be tracked. The tracking platform comprises a processor, a memory and an inertial measurement unit that mutually operate together. Examples of the tracking platform include, but are not limited to, a smartphone, a personal digital assistant (PDA), a handheld device, a laptop computer, a personal computer, and the like. In an exemplary scenario, the object is a person moving on a road carrying the smartphone as the tracking platform.

-13 -The processor refers to a computational element that, when in operation, responds to and processes instructions that drive the system to geotrack the object. Optionally, the processor includes, but is not limited to, a microprocessor, a microcontroller, a complex instruction set computing (CISC) microprocessor, a reduced instruction set (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, or any other type of processing circuit. Furthermore, the term "processor" optionally refers to one or more individual processors, processing devices and various elements associated with a processing device that are shared by other processing devices. Additionally, the one or more individual processors, processing devices and elements are arranged in various architectures for responding to and processing the instructions that drives the system.

The memory of the tracking platform is a volatile or persistent medium, such as an electrical memory circuit, a magnetic disk memory, a virtual memory or an optical disk memory, in which a computer can store data or software for any duration. Optionally, the memory is a non-volatile mass storage such as a physical storage media. The memory is configured to store relevant data required to geotrack the object.

Moreover, the inertial measurement unit refers to an electronic device that measures a linear acceleration of the tracking platform with respect to the Earth coordinates as well as a rotational motion of the tracking platform with respect to the object to determine the location of the object carrying the tracking platform to geotrack a spatial position of the object.

The method comprises receiving, at the processor of the tracking platform, information indicative of a reference point associated with the object, from a reference location device, when the reference location device is in communication with the tracking platform. The reference point is indicative of an approximate spatial location of the object based on the Earth coordinates. The reference point is, for example, given by approximate geographical coordinates of the location of the object -14 -received from the reference location device. Optionally, the reference point is received as geographical coordinates represented as degree minutes seconds (DMS) coordinates. In an example, the reference point of the object is received as 43 degrees 2 minutes 27 seconds North latitude, 77 degrees 14 minutes 30 seconds West longitude (43°2'27" N, 77°14'30" W). The received reference point potentially has an error associated therewith; thus, the reference point only indicates the approximate location of the object based on the Earth coordinates. The method of the present disclosure aims to eliminate the error of the associated with the reference point, and determine the current location of the object, i.e. an accurate location of the object with respect to the Earth coordinates. Moreover, the method also enables the location of the object, when a trajectory of the object is vertical with respect to the Earth coordinates, to be determined. For example, when the object is travelling in a lift (elevator) in a building, a change in an elevation of the object is susceptible to being determined by using the method. It will be appreciated that the reference point of the object is received at the processor of the tracking platform from the reference location device, when a connection between the reference location device and the processor is available. The connection of the reference location device with the processor is, for example, available at regular intervals of time or irregular intervals of time; thus, the reference point of the object is potentially received occasionally when the connection is available.

According to an example embodiment, the reference location device is at least one of: Global Navigation Satellite System in the tracking platform or an external device from which a Wi-H signal is received, a Bluetooth beacon, a geomagnetic fingerprint, a depth camera, a Light Detection and Ranging system, and a Radio Detection and Ranging system associated with the tracking platform. The Global Navigation Satellite System is a system that uses satellites to provide autonomous geo-spatial positioning of the object. For example, the Global Navigation Satellite System is a -15 -Global Positioning System (GPS), a Global Navigation Satellite System (GLONASS) and so forth. The external device is an electronic device that comprise circuitry that enables receiving and transmitting of at least any one of the Wi-Fi signals or the Bluetooth® signal. The reference location 5 device is beneficially communicatively coupled to the external device to receive the reference point via the Wi-Fi signal. The reference location device is also beneficially communicatively coupled to the Bluetooth® beacon, the geomagnetic fingerprint, the depth camera, the Light Detection and Ranging system, or the Radio Detection and Ranging 10 system to receive the reference point associated with the object.

Furthermore, the method comprises storing, at the processor, information indicative of the reference point together with a timestamp corresponding to the reference point, in the memory of the tracking platform. The timestamp potentially comprises information about a date and a time associated with the object at which the object is present at the reference point that is received from the reference location device. The reference point along with the timestamp corresponding to the reference point is optionally stored in a tabular form in the memory of the tracking platform. Moreover, a reference identification number is potentially assigned to each reference point received from the reference location device and stored in the memory of the tracking platform. The object, for example the person that needs to be geotracked, moves on a road. The object is present at a location 6003224" N, 78°20'24" W at 04:30 AM on 22 December 2019 and at a location 66°12'36"N, 78°20'24" W at 07:51 AM on 22 December 2019. The reference identification number such as "ID1" is assigned to the location 60032'24" N, 78°20'24" W and stored along with the timestamp "04:30 AM, 22 December 2019". Furthermore, the reference identification number such as "ID2" is assigned to the location 66°12'36" N, 78°20'24" W and stored along with the timestamp "07:51 AM, 22 December 2019".

-16 -Furthermore, the method comprises receiving, at the processor, measurements associated with the reference point, from the inertial measurement unit of the tracking platform. The measurements that are taken by the inertial measurement unit of the tracking platform are 5 associated with a movement of the tracking platform and a movement of the object carrying the tracking platform with respect to the Earth coordinates. The measurements, for example, include a rotational movement of the inertial measurement unit of the tracking platform with respect to the object and/or a linear acceleration of the object with 10 respect to the Earth coordinates, and so forth.

According to an example embodiment, the method comprises utilizing one or more sensors in the inertial measurement unit of the tracking platform to determine the measurements associated with the reference point. The one or more sensors is at least one of: a three-dimensional (i.e. three-axis) accelerometer, a three-dimensional (i.e. a three-axis) magnetometer, a three-dimensional (i.e. a three-axis) gyroscope and a barometer. The three-dimensional accelerometer in the inertial measurement unit is configured to measure the linear acceleration of the object along a particular direction. Moreover, the three-dimensional accelerometer beneficially uses an initial frame of reference as a vertical gravitational axis with respect to the Earth coordinates. The three-dimensional accelerometer thus measures the acceleration of the object in the particular direction with respect to the Earth coordinates. The three-dimensional gyroscope in the inertial measurement unit is configured to measure the rotational movement of the inertial measurement unit; optionally, three-dimensional gyroscope is implemented as a Silicon micronnachined vibrating sensor, an optical fibre (fiber) gyro, or a laser-triad device. The three-dimensional gyroscope in combination with the three-dimensional accelerometer is beneficially used to determine an angular velocity of the object. The three-dimensional magnetometer in the inertial measurement unit is configured -17 -to a measure magnetic field at the reference point. The three-dimensional magnetometer together with the three-dimensional accelerometer and the three-dimensional gyroscope are potentially used to measure an absolute heading of the object with respect to the Earth coordinates, i.e. 5 the movement of the object with respect to cardinal directions of the Earth. The barometer in the inertial measurement unit is configured to measure an atmospheric pressure at a place where the inertial measurement unit is present to determine a change in height of the object from one reference point to another reference point with respect 10 to the Earth coordinates.

Moreover, the method comprises determining, using the processor, using the measurements associated with the reference point, a displacement vector associated with the reference point. The displacement vector is a vector that represents the movement of the inertial measurement unit at any instant of time. The movement of the inertial measurement unit includes both the rotational movement of the inertial measurement unit of the tracking platform with respect to the object and the linear acceleration of the object carrying the tracking platform.

In an example embodiment, the method comprises estimating, by one or more sensors in the inertial measurement unit, an amount of rotation of the tracking platform with respect to the vertical gravitational axis at the Earth coordinates and an extent of movement of the tracking platform with respect to the Earth coordinates at the reference point, to determine the displacement vector. The one or more sensors such as the three-dimensional accelerometer and the three-dimensional gyroscope are used to estimate the amount of rotation and the extent of movement of the tracking platform. The amount of rotation is typically measured by the three-dimensional (i.e. three-axis) gyroscope, whereas the extent of movement of the tracking platform is measured by the three-dimensional accelerometer. Optionally, the three-dimensional (i.e. three-axis) -18 -magnetometer and the barometer are used to enhance an accuracy in taking measurements of the inertial measurement unit. The displacement vector is determined by considering the vertical gravitational axis at the Earth coordinates without using the cardinal directions of the Earth, thereby simplifying the determination of the displacement vector. The method thus allows geotracking of the object with less complexity compared to conventional methods. Since the displacement vector is determined without using the cardinal directions of the earth, the amount of rotation associated with the tracking platform possess a random offset.

Such method of the present disclosure enables reduction, for example minimization, of an error that potentially accumulate in the inertial measurement unit when the cardinal directions of the Earth are also utilised to determine the location of the object over a period of time.

Moreover, the method comprises determining, using the processor, using the measurements associated with the reference point, one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object, wherein the tracking platform is in the motion state or the stationary state with respect to the object. The processor is configured to determine the one or more time periods during which the tracking platform is in the stationary states with respect to the object as the measurements taken by the inertial measurement unit during the stationary states are more accurate compared to the measurements taken by the inertial measurement unit in the motion state. In an example, the object is the person carrying the tracking platform as the smartphone. The smartphone is, for example, in a pocket of the person, such as in a pocket of a trouser of the person. When the person walks on the road, the tracking platform also experiences a movement in the pocket of the trouser with respect to the person. Moreover, an orientation of the smartphone with respect to the person is potentially different when the smartphone is carried in different positions by the person, such as in the pocket of the trouser, in the pocket of a -19 -shirt of the person, in a hand of the person and so forth. When the person is carrying the smartphone in the pocket of the shirt, a movement experienced by the smartphone potentially differs from a movement experienced by the smartphone when the person is carrying the smartphone in the pocket of the trouser as the orientation of the smartphone is different in both the cases. The difference in the movements experienced by the tracking platform due to the different orientations of the tracking platform leads to different measurements by the three-dimensional (i.e. three-axis) accelerometer. Thus, the processor determines the one or more time periods during which the tracking platform is in the stationary states with respect to the object to obtain accurate measurements.

In an example embodiment, the method further comprises detecting, using the processor, a change in pattern in the measurements received from the inertial measurement unit, when the object is in the motion state. The change in pattern corresponds to a change in stationary states of the tracking platform with respect to the object. The measurements received by the inertial measurement unit are more accurate when the measurements are taken by the inertial measurement unit during the stationary state of the tracking platform (or the inertial measurement unit) with respect to the object. In other words, the measurements from the inertial measurement unit are considered to be more accurate and reliable when the measurements are taken when the tracking platform is stable with respect to the object. The change in pattern in the measurements indicates one or more time periods when the tracking platform is unstable with respect to the object. Thus, the measurements during the time periods corresponding to unstable states of the tracking platform are considered to be less reliable than the measurements taken during the stable periods of the tracking platform. The processor utilizes the measurements from the inertial measurement unit, when the detected change in the pattern is less than a predefined threshold, for -20 -the determination of the current location of the object. The processor is configured to define the predefined threshold for the measurements, as an amount of allowable disruption in the measurements when the tracking platform is in the motion state with respect to the object, that is considered potentially reliable for the determination of the current location of the object. The processor takes into account the measurements that corresponds to the change in pattern less than the predefined threshold, i.e., only the measurements that have the amount of allowable disruption and are reliable are considered by the processor for the determination of the current location of the object. The processor removes the measurements received from the inertial measurement unit when the detected change in the pattern is equal to or more than the predefined threshold, from the memory of the tracking platform. The measurements that corresponds to the change in pattern equal to or more than the predefined threshold are considered to be unreliable for determining the current location of the object; thus, these measurements are removed by the processor from the memory of the tracking platform. When the change in pattern in the measurements are detected by the processor, the processor is configured to limit a reliance on the corresponding measurements, for the determination of the current location of the object. The processor waits for the one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object to occur for the determination of the current location of the object.

In an example embodiment, the method comprises employing, using the processor, at least one of: a statistical analysis and a time-series analysis on measurements associated with the reference point to determine the one or more time periods associated with the stationary states of the tracking platform with respect to the object. The statistical analysis and the time-series analysis are performed by the processor to continuously monitor the movements of the tracking platform. The statistical analysis -21 -and the time-series analysis are performed on all axis of the one or more sensors of the inertial measurement unit to determine the stationary states of the tracking platform.

In an example embodiment, the method comprises utilizing, using the 5 processor, at least one of: a mean, a standard deviation, a median, an entropy and eigenvalues for the statistical analysis on the measurements associated with the reference point. The statistical analysis is used to determine the stationary states of the tracking platform, thereby used to determine the one or more time periods when the tracking platform is 10 stationary with respect to the object. The mean, the standard deviation, the median and so forth may be used for the statistical analysis where a plurality of measurements are used to determine the one or more time periods.

In an example embodiment, the method comprises utilizing, using the processor, at least one of: a cyclic component and a trend component for the time-series analysis on the measurements associated with the reference point. The time-series analysis is performed by the processor over a period of time to identify different trends associated with the measurements associated with the reference point taken by the tracking platform. The time-series analysis is utilized to identify the one or more time periods when the tracking platform is stationary with respect to the object.

Furthermore, the method comprises storing, using the processor, the displacement vector with the reference point together with the tinnestannp and the one or more time periods, in the memory of the tracking platform. The displacement vector at each reference point is stored along with the corresponding reference point in the memory of the tracking platform. Furthermore, information such as the reference identification number, the timestamp and the one or more time periods are also stored in the memory together with the displacement vector. In an example, the -22 -displacement vector with the reference point together with the tinnestannp and the one or more time periods are stored in the tabular form in the memory of the tracking platform.

Moreover, the method comprises determining, using the processor, a current location of the object with respect to the Earth coordinates, based on the displacement vector with the reference point along with the timestamp and the one or more time periods stored in the memory, to geotrack the object. The processor is configured to generate an optimization technique using the displacement vector with the reference point together with the timestannp and the one or more time periods stored in the memory to determine the current location of the object with respect to the Earth coordinates. Optionally, the optimization technique is based on a range multilateration technique. The range multilateration technique is used to determine the location of the object that is in the moving state or the stationary state with respect to the Earth coordinates by using multiple ranges (i.e. distances) between the object and known base stations whose locations are known by the processor. The range multilateration technique estimates the location of the object as a point zo near intersections of a number of circles that are created around the received reference points with a radius equal to their corresponding displacement vectors. More optionally, the optimization technique is a triangulation technique that is used to determine the current location of the object. Thus, by using the reference point that is indicative of the rough location of the object, and the measurements from the inertial measurement unit, the current location, i.e. the accurate location of the object with respect to the earth coordinates is determined.

In an example embodiment, the method further comprise setting, using the processor, a time-of-expiration of the displacement vector associated 30 with the reference point. The measurements from the inertial measurement unit that are used to determine the displacement vector -23 -are accurate for a short period of time, thus, the processor sets the timeof-expiration of the displacement vector associated with the reference point. The processor removes a displacement vector and the corresponding reference point together with a timestannp from the memory of the tracking platform, if a time period of the displacement vector stored in the memory exceeds the time-of-expiration. The expired displacement vector is removed from the memory of the tracking platform, thus allowing a low capacity memory and modest computational power to be employed in the tracking platform.

In an example embodiment, the method comprises setting, by the processor of the tracking platform, the time-of-expiration of the displacement vector associated with the reference point in a range of 40 seconds to 80 seconds. The time-of-expiration of the displacement vector potentially depends on a quality of the one or more sensors of the inertial measurement unit. In an example, the average time-of-expiration for the smartphone used as the tracking platform is 60 seconds.

In an example embodiment, the method further comprises estimating, using the processor, at least one of: an angle of rotation and a scale parameter associated with the tracking platform, to determine the current location of the object, when the communication between the tracking platform and the reference location device is unavailable. The method allows for continuous geotracking of the object, even if the connection is unavailable from the reference location device. The processor utilizes the reference points and the corresponding displacement vectors stored in the memory of the tracking platform to determine the current location of the object to geotrack the object. The angle of rotation and the scale parameter are estimated using the processor by use of an oldest displacement vector (i.e. a first displacement vector) present in the memory of the tracking platform. All -24 -the other displacement vectors in the memory are subtracted from the oldest displacement vector to obtain a new set of locations for the object.

In an example embodiment, the method comprises employing, using the processor, a linear regression method for the determination of the angle 5 of rotation and the scale parameter associated with the tracking platform. The processor employs the linear regression method on the stored reference points in the memory and the obtained new set of locations to determine the angle of rotation and the scale parameter associated with the tracking platform. The following equation (1) is used to employ the 10 linear regression method to obtain the angle of rotation and the scale parameter associated with the tracking platform, in which: e = X(Reference point(i) -Scale parameter* R(angle of rotation) * new set of locations(02) (eq. 1), where, "R" is a rotation matrix based on the angle of rotation and "i" is the number of reference points in the memory. The other parameters, such as scale parameter and the angle of rotation is described below, in an example.

In an example embodiment, the method further comprises generating, by the processor, the rotation matrix based on the angle of rotation associated with the tracking platform. The rotation matrix is a matrix that is used to perform rotation in three-dimensional space (such as Euclidean space). Optionally, a rotation quaternion is generated by the processor based on the angle of rotation. The rotation quaternion represents orientation and the rotation of the tracking platform with respect to the object. As compared to the rotation matrix, the rotation quaternion is compact, numerically stable and more efficient. -25 -

Furthermore, the processor rotates the displacement vector associated with the reference point, using the generated rotation matrix. The displacement vector is rotated to align the axis of the displacement vector with the axis of the object. The displacement vector is rotated by using the generated rotation matrix or the rotation quaternion. Furthermore, the processor scales the rotated displacement vector, using the scale parameter associated with the tracking platform. The processor stores the scaled displacement vector, in the memory of the tracking platform. Moreover, the processor utilizes the scaled displacement vector and the associated reference point for the determination of the current location of the object. The processor uses the scaled displacement vector and the associated reference point stored in the memory to determine the current location of the object with respect to the Earth coordinates. Optionally, the optimization technique is based on a range multilateration technique.

In an example embodiment, the method further comprises controlling, using the processor, a display of an indicator over a map interface. The indicator is indicative of the determined current location of the object on the map interface with respect to the Earth coordinates. The indicator moves on the map interface as the object moves in real-time or near real-time with respect to the Earth coordinates. The display of the indicator over the map interface is at the tracking platform or an external device that is communicatively coupled to the tracking platform. The indicator is represented over the map interface having a shape such as an arrow, a solid circle, a square and the like that moves on the map interface as the object moves in real-time or near real-time with respect to the Earth coordinates. The map interface refers to a structured set of user interface elements rendered on a display screen of the tracking platform or the external device communicatively coupled to the tracking platform. Optionally, the map interface is configured to interact with a user to display the current location of the object, and to allow the user to adjust screen size of the map interface, to enable clear view of the location of -26 -the object on the map interface. The map interface beneficially displays a three-dimensional view of surroundings of the current location of the object, such that the indicator moves over the three-dimensional view on the map interface to indicate the current location of the object.

The present disclosure also relates to the system as described above. Various embodiments and variants disclosed above apply mutatis mutandis to the system.

In an example embodiment, the processor is further configured to display of an indicator over a map interface, wherein the indicator is indicative of the determined current location of the object on the map interface with respect to the Earth coordinates, and wherein the indicator moves on the map interface as the object moves in real-time or near real-time with respect to the earth coordinates, and wherein the display of the indicator over the map interface is at the tracking platform or an external device that is communicatively coupled to the tracking platform.

DETAILED DESCRIPTION OF THE DRAWINGS

Referring to FIG. 1, there is shown an illustration of an environment 100 in which a system 102 operates to perform geotracking of an object carrying a tracking platform, according to an embodiment of the present disclosure. The environment 100 comprises the system 102, the object 104 and a reference location provider 106. Furthermore, the system 102 comprises the tracking platform 108. The tracking platform 108 comprises a processor 110, a memory 112 and an inertial measurement unit 114. The processor 110 is configured to receive information indicative of a reference point associated with the object 104, from the reference location device 106, when the reference location device 106 is in communication with the tracking platform 108, The object 104 is in a motion state or a stationary state with respect to earth coordinates, and the reference point is indicative of an approximate location of the object -27 - 104 based on the Earth coordinates. Furthermore, the processor 110 stores the reference point together with a timestamp corresponding to the reference point, in the memory 112 of the tracking platform 108. The processor receives measurements associated with the reference point from the inertial measurement unit 114 of the tracking platform 108. Moreover, the processor 110 determines, using the measurements associated with the reference point, a displacement vector associated with the reference point and one or more time periods associated with corresponding stationary states of the tracking platform 108 with respect to the object 104, The tracking platform 108 is in the motion state or the stationary state with respect to the object 104. The processor 110 stores the displacement vector with the reference point together with the timestamp and the one or more time periods in the memory 112 of the tracking platform 108. The processor 110 determines a current location of the object 104 with respect to the Earth coordinates, based on the displacement vector with the reference point together with the timestamp and the one or more time periods stored in the memory 112, to geotrack the object 104.

Referring to FIG. 2, there is shown an illustration of a trajectory of an object with corresponding displacement vectors at different time periods, according to an example embodiment of the present disclosure. In the illustration, there is shown a real trajectory 202 of the object, such as a walking trajectory in case the object is a person. The real trajectory 202 is shown over a time period "t1 to t4", such as the time period is divided in four instants of time "t1', "t2", "t3" and "t4" over the time period. Moreover, reference points 204A, 204B, 204C and 204D as received from the reference location device are depicted. Moreover, corresponding estimated errors 206A, 206B, 206C and 206D associated with the reference points 204A, 204B, 204C and 204D are shown. In the illustration, there is further depicted an estimated trajectory 208 as measured using the inertial measurement unit. The estimated trajectory -28 - 208 possess a random rotation offset with respect to the real trajectory 202 and a scale factor potentially also differs for both the trajectories. Moreover, displacement vectors 210A, 210B, 210C and 210D are shown at the instants of time "t1', "t2", "t3" and "t4" respectively. The displacement vectors 210A, 210B, 210C and 210D point to a location 212, that is an accurate and a current location of the object. The processor is configured to determine the location 212 as the current location of the object.

Referring to FIG. 3, there is shown an illustration of a tabular representation 300 of reference points stored in a memory, according to an example embodiment of the present disclosure. The reference points together with a timestamp and a reference identification are stored in a tabular form as "Table 1" in the memory of the tracking platform. The Table 1 comprises two columns where a first column 302 depicts the reference identification and a second column 304 depicts the reference points along with the timestamp. In the Table 1, the first column 302 comprises reference identification "ID1" to "IDn", where total number of reference points are "n". The corresponding entries of the second column 304 comprise the reference points whose reference identification is stored in the first column 302 together with the timestamp associated with the reference point. The reference point is stored in form of three-dimensional (i.e. three-axis) Cartesian coordinates (x, y and z), whereas the timestamp is stored as a time "tr.

Referring to FIG. 4, there is shown an illustration of a flowchart 400 depicting determination of one or more time periods associated with corresponding stationary states of a tracking platform with respect to an object, according to an example embodiment of the present disclosure. At a step 402, measurements are received at the processor from the inertial measurement unit. At a step 404, changes in patterns are identified by the processor, i.e. a motion state of the tracking platform -29 -with respect to the object or the stable state of the tracking platform with respect to the object. At a step 406, stationary states are waited for, using the processor of the tracking platform, to occur with respect to the object, i.e. the time periods at which the tracking platform is stationary with respect to the object. At a step 408, the motion state of the tracking platform with respect to the object is detected by the processor. At a step 410, an amount of the movement of the tracking platform, i.e. the amount of movement experienced by the tracking platform in the motion state is detected by the processor. The processor utilizes the measurements from the inertial measurement unit when the change in the pattern is less than a predefined threshold. The processor is configured to define the predefined threshold for the measurements, as an amount of allowable disruption or movement in the measurements when the tracking platform is in the motion state with respect to the object, that is considered to be reliable for the determination of the current location of the object. The processor takes into account the measurements that corresponds to the change in pattern less than the predefined threshold, i.e., only the measurements that have the amount of allowable disruption and are reliable are considered by the processor for the determination of the current location of the object. At a step 412, the information about the amount of movement experienced by the tracking platform in the motion state is updated by the processor in the memory of the tracking platform. The processor updates the measurements received from the inertial measurement unit corresponding to the change in less the predefined threshold, in the memory and removes the measurements received from the inertial measurement unit corresponding to the change in pattern equal to or more than the predefined threshold, from the memory of the tracking platform. Additionally, at a step 414, the displacement vectors associated with the reference points are also determined by the processor. At a step -30 - 416 the displacement vectors together with the reference points are stored by the processor in the memory of the tracking platform.

The steps 402, 404, 406, 408, 410, 412, 414 and 416 are only illustrative and other alternatives can also be provided where one or more steps are added, one or more steps are removed, or one or more steps are provided in a different sequence without departing from the scope of the claims herein.

Referring to FIG. 5, there is shown an illustration of a tabular representation 500 of displacement vectors stored in a memory, according to an example embodiment of the present disclosure. The tabular representation 500 comprises a "Table 2" that includes a first column 502 and a second column 504. The first column 502 depicts the reference identification as the first column 302 of the Table 1. The first column 502 comprises reference identification "ID1" to "IDn", where total number of reference points are "n". The corresponding entries of the second column 504 comprises the displacement vectors associated with the reference points whose reference identification is stored in the first column 502. The displacement vectors are stored in a form of three-dimensional Cartesian vector coordinates (dx, dy and dz).

Referring to FIG. 6, there is shown an illustration 600 of measurements taken by a three-dimensional (i.e. three-axis) accelerometer of an inertial measurement unit, according to an example embodiment of the present disclosure. In the illustration 600, there is depicted the object as a person 602 that is walking on a trajectory. The tracking platform is depicted as a smartphone 604 carried by the person 602. The measurements are shown for an instance when the person 602 carries the smartphone 604 in a chest pocket and a trouser pocket. Moreover, the illustration 600 depicts the smartphone 604 to be in a different orientation when the smartphone 604 is in the chest pocket of the person as compared to an orientation when the smartphone 604 is in the trouser pocket of the -31 -person. The measurements taken by the three-dimensional (i.e. three-axis) accelerometer during both the instances differ. A first graphical depiction 606A shows the measurements taken by the three-dimensional accelerometer when the smartphone 604 is in the chest pocket of the person 602. A second graphical depiction 606B shows the measurements taken by the three-dimensional accelerometer when the smartphone 604 is in the trouser pocket of the person 602. Thus, the processor takes into account the orientation of the smartphone 604 while determining the current location of the object for geotracking purposes.

Referring to FIG. 7, there is shown an illustration of a flow chart 700 depicting removal of displacement vector and the corresponding reference point from a memory, according to an embodiment of the present disclosure. At a step 702, a new reference point is received at the processor from the reference location device and the processor adds the new reference point in the memory of the tracking platform. At a step 704, a displacement vector corresponding to the new reference point is added by the processor to the memory. At a step 706, an optimization technique is created by the processor by using the reference points as well as the displacement vectors stored in the memory. At a step 708, the current location of the object is determined by the processor with use of the optimization technique. At a step 710, the current location of the object is updated by the processor in the memory. At a step 712, older and irrelevant displacement vectors and the corresponding reference points are removed using the processor from the memory of the tracking platform.

The steps 702, 704, 706, 708, 710 and 712 are only illustrative and other alternatives can also be provided where one or more steps are added, one or more steps are removed, or one or more steps are provided in a different sequence without departing from the scope of the claims herein.

-32 -Referring to FIG. 8, there is shown an illustration 800 of an exemplary implementation of an optimization technique to determine a current location of an object, according to an example embodiment of the present disclosure. In the illustration, there is shown utilization of range 5 multilateration as the optimization technique to determine a current location 802 of the object. The range multilateration technique determines the current location as a point near intersections of a number of circles that are created around the reference points with a radius equal to their corresponding displacement vectors. The illustration 800 depicts 10 intersection of the circles 804A, 804B, 804C and 804D as the current location of the object.

Referring to FIG. 9, there is shown an illustration 900 of an estimation of an angle of rotation and a scale parameter associated with a tracking platform, according to an example embodiment of the present disclosure.

In the illustration 900, there is shown a new set of locations having locations 902A, 902B, 902C and 902D for the object obtained from subtracting all the displacement vectors in the memory from an oldest displacement vector. The processor employs a linear regression method on the stored reference points in the memory and the obtained new set of locations having the locations 902A, 902B, 902C and 902D to determine the angle of rotation and the scale parameter associated with the tracking platform.

Referring to FIG. 10, there is shown a flowchart of a method 1000 for geotracking an object carrying a tracking platform, according to an example embodiment of the present disclosure. At a step 1002, information indicative of a reference point associated with the object is received from a reference location device at a processor of the tracking platform, when the reference location device is in communication with the tracking platform, wherein the object is in a motion state or a stationary state with respect to Earth coordinates, and wherein the -33 -reference point is indicative of an approximate location of the object based on the Earth coordinates. At a step 1004, the reference point is stored together with a timestamp corresponding to the reference point, using the processor, in a memory of the tracking platform. At a step 1006, measurements associated with the reference point are received at the processor, from an inertial measurement unit of the tracking platform. At a step 1008, using the measurements associated with the reference point, a displacement vector associated with the reference point is determined using the processor and one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object are determined by the processor, wherein the tracking platform is in the motion state or the stationary state with respect to the object. At a step 1010, the displacement vector is stored with the reference point together with the tinnestannp and the one or more time periods, using the processor, in the memory of the tracking platform. At a step 1012, a current location of the object with respect to the Earth coordinates is determined using the processor, based on the displacement vector with the reference point along with the tinnestannp and the one or more time periods stored in the memory, to geotrack the object.

The steps 1002, 1004, 1006, 1008, 1010 and 1012 are only illustrative and other alternatives can also be provided where one or more steps are added, one or more steps are removed, or one or more steps are provided in a different sequence without departing from the scope of the claims herein.

Modifications to embodiments of the present disclosure described in the foregoing are possible without departing from the scope of the present disclosure as defined by the accompanying claims. Expressions such as "including", "comprising", "incorporating", "have", "is" used to describe and claim the present disclosure are intended to be construed in a non- -34 -exclusive manner, namely allowing for items, components or elements not explicitly described also to be present. Reference to the singular is also to be construed to relate to the plural.

Claims (16)

1. -35 -CLAIMS1. A method (1000) of (for) geotracking an object (104) carrying a tracking platform (108), the method comprising: - receiving, at a processor (110) of the tracking platform, information 5 indicative of a reference point (204A, 204B, 204C, 204D) associated with the object, from a reference location device (106), when the reference location device (106) is coupled in communication with the tracking platform (108), wherein the object is in a motion state or a stationary state with respect to Earth coordinates, and wherein the reference point 10 is indicative of an approximate location of the object based on the Earth coordinates; characterized in that -storing, at the processor, the information defining the reference point together with a timestamp corresponding to the reference point, in a memory (112) of the tracking platform; - receiving, at the processor, measurements associated with the reference point, from an inertial measurement unit (114) of the tracking 20 platform, wherein the inertial measurement unit (1140 includes a sensor arrangement; - determining, using the processor, employing the measurements associated with the reference point: - a displacement vector (210A, 210B, 210C, 210D) associated with the reference point; and - one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object, wherein the tracking platform is in the motion state or the stationary state with respect to the object; -36 - - storing, using the processor, the displacement vector with the reference point together with the timestamp and the one or more time periods, in the memory of the tracking platform; and - determining, using the processor, a current location (212, 802) of the 5 object with respect to the Earth coordinates, based on the displacement vector with the reference point together with the tinnestannp and the one or more time periods stored in the memory, to geotrack the object.
2. 2. A method according to claim 1, comprising utilizing the sensor arrangement in the inertial measurement unit (114) of the tracking platform (108) to determine the measurements associated with the reference point (204A, 2045, 204C, 204D), wherein the sensor arrangement includes at least one of: a three-dimensional accelerometer, a three-dimensional magnetometer, a three-dimensional gyroscope, a barometer.
3. 3. A method according to claim 1 or 2, comprising estimating, using the sensor arrangement included in the inertial measurement unit (114), an amount of rotation of the tracking platform (108) with respect to a vertical gravitational axis at the Earth coordinates and an extent of movement of the tracking platform with respect to the Earth coordinates at the reference point (204A, 2045, 204C, 204D), to determine the displacement vector (210A, 2105, 210C, 210D).
4. 4. A method according to any one of the preceding claims, comprising employing, using the processor (110), at least one of: a statistical analysis and a time-series analysis on measurements associated with the reference point (204A, 204B, 204C, 204D) to determine the one or more time periods associated with the stationary states of the tracking platform (108) with respect to the object (104).
5. 5. A method according to claim 4, comprising utilizing, using the processor (110), at least one of: a mean, a standard deviation, a median, -37 -an entropy and eigenvalues for the statistical analysis on the measurements associated with the reference point (204A, 2045, 204C, 204D).
6. 6. A method according to claim 4, comprising utilizing, using the 5 processor (110), at least one of: a cyclic component and a trend component for the time-series analysis on the measurements associated with the reference point (204A, 2045, 204C, 204D).
7. 7. A method according to any one of the preceding claims, further comprising: -setting, using the processor (110), a time-of-expiration of the displacement vector (210A, 210B, 210C, 210D) associated with the reference point (204A, 2045, 204C, 204D); and -removing, using the processor, a displacement vector and the corresponding reference point along with a timestamp from the memory 15 (112) of the tracking platform (108), if a time period of the displacement vector stored in the memory exceeds the time-of-expiration.
8. 8. A method according to claim 7, comprising setting, using the processor (110) of the tracking platform (108), the time-of-expiration of the displacement vector (210A, 2105, 210C, 210D) associated with the reference point (204A, 204B, 204C, 204D) in a range of 40 seconds to 80 seconds.
9. 9. A method according to any one of the preceding claims, further comprising estimating, using the processor (110), at least one of: (i) an angle of rotation; and (ii) a scale parameter associated with the tracking platform (108), -38 -to determine the current location (212, 802) of the object (104), when a communication coupling between the tracking platform and the reference location device (106) is unavailable.
10. 10. A method according to claim 9, comprising employing, using the 5 processor (110), a linear regression method to determine the angle of rotation and the scale parameter associated with the tracking platform (108).
11. 11. A method according to claim 9 or 10, further comprising: -generating, using the processor (110), a rotation matrix based on the 10 angle of rotation associated with the tracking platform (108); - rotating, using the processor, the displacement vector (210A, 210B, 210C, 210D) associated with the reference point (204A, 204B, 204C, 204D), using the generated rotation matrix.- scaling, using the processor, the rotated displacement vector, using the 15 scale parameter associated with the tracking platform; - storing, using the processor, the scaled displacement vector, in the memory (112) of the tracking platform; and - utilizing, using the processor, the scaled displacement vector and the associated reference point for the determination of the current location 20 (212, 802) of the object (104).
12. 12. A method according to any one of the preceding claims, further comprising controlling, using the processor (110), a display of an indicator over a map interface, wherein the indicator is indicative of the determined current location (212, 802) of the object (104) on the map interface with respect to the Earth coordinates, and wherein the indicator moves on the map interface as the object moves in real-time or near real-time with respect to the Earth coordinates, and wherein the display of the indicator over the map interface is at the tracking platform (108) or an external device that is communicatively coupled to the tracking platform (108).
13. -39 - 13. A method according to any one of the preceding claims, further comprising: - detecting, using the processor (110), a change in a pattern in the measurements received from the inertial measurement unit (114), when the object (104) is in the motion state, wherein the change in the pattern corresponds to a change in stationary states of the tracking platform (108) with respect to the object; - utilizing, using the processor, the determination of the current location of the object, the measurements from the inertial measurement unit, 10 when the detected change in the pattern is less than a predefined threshold; and - removing, using the processor accessing the memory (112) of the tracking platform, the measurements received from the inertial measurement unit when the detected change in the pattern is equal to or 15 more than the predefined threshold.
14. 14. A system (102) that, when in operation, geotracks an object (104) carrying a tracking platform (108), the system (102) comprising: a processor (110), a memory (112) and an inertial measurement unit (114) in the tracking platform (108), wherein the processor (110) is configured, when in operation, to: - receive information indicative of a reference point (204A, 204B, 204C, 204D) associated with the object, from a reference location device (106), when the reference location device is in communication with the tracking platform, wherein the object is in a motion state or a stationary state with respect to Earth coordinates, and wherein the reference point is indicative of an approximate location of the object based on the Earth coordinates; - store the reference point together with a timestamp corresponding to the reference point, in the memory of the tracking platform, wherein the processor is further configured to: -40 - - receive measurements associated with the reference point from the inertial measurement unit of the tracking platform; - determine using the measurements associated with the reference point: -a displacement vector (210A, 210B, 210C, 210D) associated with the reference point; and -one or more time periods associated with corresponding stationary states of the tracking platform with respect to the object, wherein the tracking platform is in the motion state or the stationary state with respect to the object; - store the displacement vector with the reference point together with the timestamp and the one or more time periods in the memory of the tracking platform; and - determine a current location (212, 802) of the object with respect to 15 the Earth coordinates, based on the displacement vector with the reference point together with the timestamp and the one or more time periods stored in the memory, to geotrack the object.
15. 15. A system according to claim 14, wherein the processor (110) is further configured to display an indicator over a map interface, wherein the indicator is indicative of the determined current location (212, 802) of the object (104) on the map interface with respect to the Earth coordinates, and wherein the indicator moves on the map interface as the object moves in real-time or near real-time with respect to the Earth coordinates, and wherein the display of the indicator over the map interface is at the tracking platform (108) or an external device that is communicatively coupled to the tracking platform.
16. 16. A system according to claim 14 or 15, wherein the reference location device (106) is at least one of: Global Navigation Satellite System in the tracking platform (108) and an external device from which a Wi-Fi signal 30 is received, a Bluetooth® beacon, a geomagnetic fingerprint, a depth camera, a Light Detection and Ranging system, and a Radio Detection and Ranging system associated with the tracking platform.