Research at Queen'sϳԹԴ Partnerships and Innovation is pleased to report the issuance of U.S. Patent No. 11,226,201 entitled, “Automated mobile geotechnical mapping,” on January 18, 2022 to Marc Gallant and Joshua Marshall. The patent relates to the apparatus and methods for generating a representation of a physical environment comprising of a mobile sensor platform, which includes sensors that output sensor signals relating to parameters such as range, gravity, direction of Earth’s magnetic field, and angular velocity.