Estimating local motion of physical exercise

• US 10,126,427 B2
• Filed: 08/20/2014
• Issued: 11/13/2018
• Est. Priority Date: 08/20/2014
• Status: Active Grant

• Current Assignee: Polar Electro Oy
• Original Assignee: Polar Electro Oy
• Inventors: Pekonen, Elias, Miettinen, Jari, Majava, Ville, Taini, Antti, Laapotti, Markus
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US14/464,343
• Publication Number:
  US 20160054449A1
• Time in Patent Office: 1,546 Days
• CPC Class Codes: A61B 2505/09 Rehabilitation or training
• CPC Class Codes: A61B 5/024 Detecting, measuring or recording pulse rate or heart rate A61B5/0205, A61B5/021 take precedence
• CPC Class Codes: A61B 5/1112 Global tracking of patients, e.g. by using GPS
• CPC Class Codes: A61B 5/681 Wristwatch-type devices
• CPC Class Codes: A63B 24/0003 Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
• CPC Class Codes: A63B 24/0062 Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
• CPC Class Codes: G01C 22/006 Pedometers
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G01S 19/19 Sporting applications
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A solution for estimating motion of a user is disclosed. A method comprises: acquiring satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver; extracting, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is included in a framework of the human body; and determining, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached with respect to the reference point.

Claims

1. A method comprising:

acquiring, in an apparatus, using a satellite positioning receiver or a communication interface, satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver;

extracting, by the apparatus, using a motion data extractor, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is comprised in a framework of the human body; and

determining, using a motion analyzer, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached, the local motion trajectory being determined with respect to the reference point comprised in the trajectory of the human body, wherein the overall motion data is acquired by averaging the satellite positioning data over an observation interval, and wherein the local motion data is acquired by subtracting the overall motion data from the satellite positioning data.

2. The method of claim 1, wherein the local motion data represents local motion of a limb of the human body.

3. The method of claim 1, further comprising:

determining whether or not the local motion data is periodic;

upon determining that the local motion data is periodic, splitting the local motion data into a plurality of subsets of local motion data samples, wherein each subset consists of local motion data samples over one period, and wherein different subsets are associated with different periods;

averaging local motion data samples of the different subsets, wherein the averaged local motion data samples have the same time index within the period; and

acquiring, as a result, averaged local motion data representing averaged periodic motion of the part of the human body.

4. The method of claim 1, further comprising identifying a type of locomotion of the human body from the local motion data.

5. The method of claim 4, further comprising:

providing a mapping table mapping each type of locomotion to an averaging window used to acquire the overall motion data from the satellite positioning data;

selecting, on the basis of the identified sports type, an averaging window mapped to the identified type of locomotion; and

using the selected averaging window to acquire the overall motion data from the satellite positioning data.

6. The method of claim 1, further comprising determining at least one of step cadence, step length, and step count from the local motion data.

7. The method of claim 1, further comprising using at least one of local motion data and the overall motion data acquired from the satellite positioning data to calibrate at least one motion sensor other than the satellite positioning receiver.

8. The method of claim 7, wherein the at least one motion sensor comprises at least one of the following:

at least one accelerometer, a gyroscope, and a magnetometer.

9. A method comprising:

acquiring, in an apparatus, using a satellite positioning receiver or a communication interface, satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver;

extracting, by the apparatus, using a motion data extractor, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is comprised in a framework of the human body; and

determining, using a motion analyzer, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached, the local motion trajectory being determined with respect to the reference point comprised in the trajectory of the human body, wherein the overall motion data is acquired by averaging the satellite positioning data over an observation interval, and wherein the local motion data is acquired by subtracting the overall motion data from the satellite positioning data.

10. The method of claim 9, wherein the signature points are determined by monitoring for a determined pattern in inertial measurement data provided by at least one inertial sensor and, upon detecting the determined pattern in the inertial measurement data, marking at least one sample of the satellite positioning data having the same timing with the detection of the determined pattern.

11. A method comprising:

acquiring, in an apparatus, using a satellite positioning receiver or a communication interface, satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver;

extracting, by the apparatus, using a motion data extractor, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is comprised in a framework of the human body;

determining, using a motion analyzer, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached, the local motion trajectory being determined with respect to the reference point comprised in the trajectory of the human body;

using at least one of local motion data and the overall motion data acquired from the satellite positioning data to calibrate at least one motion sensor other than the satellite positioning receiver;

acquiring motion parameters characterizing a local motion trajectory from the local motion data;

calibrating motion sensor data measured with the at least one motion sensor with the acquired motion parameters; and

continuing measurements with the at least one calibrated motion sensor while shutting down the satellite positioning receiver.

12. The method of claim 11, further comprising recalibrating the at least one motion sensor with the local motion data of the satellite positioning data upon detecting a determined event.

13. An apparatus comprising:

at least one processor; and

at least one memory including a computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the apparatus to perform operations comprising;

acquiring, by the apparatus, from a satellite positioning receiver or a communication interface, satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver;

extracting, by the apparatus, from a motion data extractor, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is comprised in a framework of the human body;

determining, by the apparatus, from a motion analyzer, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached, the local motion trajectory being determined with respect to the reference point comprised in the trajectory of the human body; and

acquiring, by the apparatus, the overall motion data by marking determined signature points of the satellite positioning data according to a determined criterion and by determining the overall motion data from motion of the marked signature points.

14. The apparatus of claim 13, wherein the local motion data represents local motion of a limb of the human body.

15. The apparatus of claim 13, wherein the operations further comprise:

determining whether or not the local motion data is periodic;

upon determining that the local motion data is periodic, splitting the local motion data into a plurality of subsets of local motion data samples, wherein each subset consists of local motion data samples over one period, and wherein different subsets are associated with different periods; and

averaging local motion data samples of the different subsets, wherein the averaged local motion data samples have the same time index within the period and acquiring, as a result, averaged local motion data representing averaged periodic motion of the part of the human body.

16. The apparatus of claim 13, wherein the operations further comprise identifying a type of locomotion of the human body from the local motion data.

17. The apparatus of claim 16, wherein the operations further comprise:

providing a mapping table mapping each type of locomotion to an averaging window used to acquire the overall motion data from the satellite positioning data;

selecting, on the basis of the identified sports type, an averaging window mapped to the identified type of locomotion; and

using the selected averaging window to acquire the overall motion data from the satellite positioning data.

18. The apparatus of claim 13, wherein the operations further comprise determining at least one of step cadence, step length, and step count from the local motion data.

19. The apparatus of claim 13, wherein the operations further comprise using at least one of local motion data and the overall motion data acquired from the satellite positioning data to calibrate at least one motion sensor other than the satellite positioning receiver.

20. The apparatus of claim 19, wherein the at least one motion sensor comprises at least one of the following:

at least one accelerometer, a gyroscope, and a magnetometer.

21. An apparatus comprising:

at least one processor; and

at least one memory including a computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the apparatus to perform operations comprising;

acquiring, by the apparatus, from a satellite positioning receiver or a communication interface, satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver;

extracting, by the apparatus, from a motion data extractor, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is comprised in a framework of the human body;

determining, by the apparatus, from a motion analyzer, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached, the local motion trajectory being determined with respect to the reference point comprised in the trajectory of the human body; and

acquiring, by the apparatus, the overall motion data by marking determined signature points of the satellite positioning data according to a determined criterion and by determining the overall motion data from motion of the marked signature points.

22. The apparatus of claim 21, wherein the operations further comprise determining the signature points by monitoring for a determined pattern in inertial measurement data provided by at least one inertial sensor and, upon detecting the determined pattern in the inertial measurement data, marking at least one sample of the satellite positioning data having the same timing with the detection of the determined pattern.

23. An apparatus comprising:

at least one processor; and

at least one memory including a computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the apparatus to perform operations comprising;

acquiring, by the apparatus, from a satellite positioning receiver or a communication interface, satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver;

extracting, by the apparatus, from a motion data extractor, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is comprised in a framework of the human body; and

determining, by the apparatus, from a motion analyzer, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached, the local motion trajectory being determined with respect to the reference point comprised in the trajectory of the human body;

using, by the apparatus, at least one of local motion data and the overall motion data acquired from the satellite positioning data to calibrate at least one motion sensor other than the satellite positioning receiver;

acquiring, by the apparatus, motion parameters characterizing a local motion trajectory from the local motion data;

calibrating, by the apparatus, motion sensor data measured with the at least one motion sensor with the acquired motion parameters; and

continuing, by the apparatus, measurements with the at least one calibrated motion sensor while shutting down the satellite positioning receiver.

24. The apparatus of claim 23, wherein the operations further comprise recalibrating the at least one motion sensor with the local motion data of the satellite positioning data upon detecting a determined event.

25. A computer program product embodied on a non-transitory distribution medium readable by a computer and comprising program instructions which, when executed by an apparatus, perform a computer process comprising:

acquiring, by the apparatus, from a satellite positioning receiver or a communication interface, satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver;

extracting, by the apparatus, from a motion data extractor, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is comprised in a framework of the human body; and

determining, by the apparatus, from a motion analyzer, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached, the local motion trajectory being determined with respect to the reference point comprised in the trajectory of the human body, wherein the overall motion data is acquired by averaging the satellite positioning data over an observation interval, and wherein the local motion data is acquired by subtracting the overall motion data from the satellite positioning data.

26. A computer program product embodied on a non-transitory distribution medium readable by a computer and comprising program instructions which, when executed by an apparatus, perform a computer process comprising:

acquiring, by the apparatus, from a satellite positioning receiver or a communication interface, satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver;

extracting, by the apparatus, from a motion data extractor, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is comprised in a framework of the human body; and

determining, by the apparatus, from a motion analyzer, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached, the local motion trajectory being determined with respect to the reference point comprised in the trajectory of the human body,

wherein the overall motion data is acquired by marking determined signature points of the satellite positioning data according to a determined criterion and by determining the overall motion data from motion of the marked signature points.

27. A computer program product embodied on a non-transitory distribution medium readable by a computer and comprising program instructions which, when executed by an apparatus, perform a computer process comprising:

acquiring, by the apparatus, using a satellite positioning receiver or a communication interface, satellite positioning data received with a satellite positioning receiver attached to a human body and indicating a location of the satellite positioning receiver;

extracting, by the apparatus, from a motion data extractor, from the satellite positioning data, local motion data representing local motion of the satellite positioning receiver with respect to a reference point and overall motion data representing the motion of the reference point, wherein the reference point is comprised in a framework of the human body;

determining, by the apparatus, from a motion analyzer, from the local motion data, a local motion trajectory of a part of a human body to which the satellite positioning receiver is attached, the local motion trajectory being determined with respect to the reference point comprised in the trajectory of the human body;

using, by the apparatus, at least one of local motion data and the overall motion data acquired from the satellite positioning data to calibrate at least one motion sensor other than the satellite positioning receiver;

acquiring, by the apparatus, motion parameters characterizing a local motion trajectory from the local motion data;

calibrating, by the apparatus, motion sensor data measured with the at least one motion sensor with the acquired motion parameters; and

continuing, by the apparatus, measurements with the at least one calibrated motion sensor while shutting down the satellite positioning receiver.