Apparatus and methods for ultrasonic sensor navigation

• US 10,184,797 B2
• Filed: 01/25/2016
• Issued: 01/22/2019
• Est. Priority Date: 12/18/2015
• Status: Active Grant

• Current Assignee: Invensense Incorporated (TDK Corporation)
• Original Assignee: Invensense Incorporated (TDK Corporation)
• Inventors: Georgy, Jacques, Al-Hamad, Amr, Goodall, Christopher
• Primary Examiner(s): Boomer, Jeffrey C
• Application Number:
  US15/005,635
• Publication Number:
  US 20170176188A1
• Time in Patent Office: 1,093 Days
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 15/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information
• CPC Class Codes: H04W 72/21 in the uplink direction of a wireless link, i.e. towards the network
• CPC Class Codes: H04W 72/23 in the downlink direction of a wireless link, i.e. towards a terminal

Abstract

An apparatus and methods are disclosed for determining a navigational constraint for a portable device using an ultrasonic sensor. The navigational constraint may be used to supplement other navigational solutions or may be used independently. The ultrasonic sensor may provide a plurality of samples to be processed to determine the constraint. Processing the ultrasonic samples may include performing a flow analysis regarding detected external objects. Determining the constraint may include any or all of determining a context for usage, distinguishing usage modes, estimating relative heading changes, and estimating misalignment angle between device and platform needed to determine direction of motion of the platform and determining a speed of the portable device from the samples.

Claims

1. A method for navigating with a device comprising:

processing a sequence of samples from an ultrasonic sensor of the device, wherein the processing comprises performing an ultrasonic flow analysis, wherein performing the ultrasonic flow analysis comprises determining change in relative location to an external object;

determining a navigational constraint for the device based at least in part on the processed sequence of samples, the determined navigational constraint consisting of at least one of;

a) a device angle;

b) a misalignment angle of the device with respect to a direction of motion;

c) relative heading changes obtained with respect to the external object;

d) a speed of the device, wherein processing the sequence of samples from the ultrasonic sensor further comprises determining a distance to the external object by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object, and wherein the speed of the device is estimated based at least in part on the ultrasonic flow analysis and the determined distance to the external object; and

e) a context for the device, wherein the context is determined as consisting of at least one of;

i) being static;

ii) fidgeting motion; and

iii) device usage; and

providing a navigation solution for the device based at least in part on the determined navigational constraint.

2. The method of claim 1, wherein determining the navigational constraint comprises estimating the device angle.

3. The method of claim 1, wherein determining the navigational constraint comprises estimating the misalignment angle of the device with respect to a direction of motion.

4. The method of claim 3, wherein the device further comprises inertial sensors, wherein the method further comprises a navigation routine using inertial sensors for providing the navigational solution and wherein the navigational constraint is applied to the navigational solution provided by the inertial navigation routine.

5. The method of claim 4, further comprising processing the sequence of samples from the ultrasonic sensor using a Doppler analysis to determine a speed of the device, wherein the determined speed is applied to the navigational solution.

6. The method of claim 3, wherein processing the sequence of samples from the ultrasonic sensor further comprises determining a distance to at least one of the external object and an additional external object by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object, and wherein the device further comprises a gyroscope, further comprising estimating the speed of the device based at least in part on the ultrasonic flow analysis and the determined distance to at least one of the external object and the additional external object, and providing the navigational solution based at least in part on the estimated speed, the estimated misalignment angle and information from the gyroscope.

7. The method of claim 3, wherein processing the sequence of samples from the ultrasonic sensor further comprises determining a distance to at least one of the external object and an additional external object by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object, and wherein the device further comprises a magnetometer, further comprising estimating the speed of the device based at least in part on the ultrasonic flow analysis and the determined distance to at least one of the external object and the additional external object, and providing the navigational solution based at least in part on the estimated speed, the estimated misalignment angle and information from the magnetometer.

8. The method of claim 1, wherein determining the navigational constraint comprises estimating relative heading changes obtained with respect to at least one of the external object and an additional external object.

9. The method of claim 8, wherein the device further comprises inertial sensors, wherein the method further comprises a navigation routine using inertial sensors for providing the navigational solution and wherein the navigational constraint is applied to the navigational solution provided by the inertial navigation routine.

10. The method of claim 9, further comprising processing the sequence of samples from the ultrasonic sensor using a Doppler analysis to determine a speed of the device, wherein the determined speed is applied to the navigational solution.

11. The method of claim 1, further comprising processing the sequence of samples from the ultrasonic sensor using a Doppler analysis, wherein determining the navigational constraint comprises estimating relative heading changes obtained with respect to at least one of the external object and an additional external object based at least in part on the Doppler analysis.

12. The method of claim 11, wherein the device further comprises inertial sensors, wherein the method further comprises a navigation routine using inertial sensors for providing the navigational solution and wherein the navigational constraint is applied to the navigational solution provided by the inertial navigation routine.

13. The method of claim 12, further comprising processing the sequence of samples from the ultrasonic sensor using a Doppler analysis to determine a speed of the device, wherein the determined speed is applied to the navigational solution.

14. The method of claim 1, wherein processing the sequence of samples from the ultrasonic sensor further comprises determining a distance to at least one of the external object and an additional external object by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object.

15. The method of claim 14, wherein determining the navigational constraint includes estimating the speed of the device based at least in part on the ultrasonic flow analysis and the determined distance to the external object.

16. The method of claim 15, wherein the device further comprises inertial sensors, wherein the method further comprises a navigation routine using inertial sensors for providing the navigational solution and wherein the navigational constraint is applied to the navigational solution provided by the inertial navigation routine.

17. The method of claim 15, wherein estimating the speed includes deriving a scale factor from the determined distance to the external object.

18. The method of claim 14, wherein the device further comprises a supplemental sensor, further comprising processing a sequence of samples from the supplemental sensor to perform a flow analysis.

19. The method of claim 18, further comprising determining an additional navigational constraint, wherein the additional constraint is a speed of the device, by estimating the speed of the device based at least in part on the flow analysis performed on the sequence of samples from the supplemental sensor and the determined distance to the external object from the ultrasonic sensor by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object, wherein providing the navigational solution is based at least in part on the estimated speed from the supplemental sensor samples.

20. The method of claim 19, wherein the device further comprises inertial sensors, wherein the method further comprises a navigation routine using inertial sensors for providing the navigational solution and wherein the navigational constraint from the flow analysis performed on the sequence of samples from the supplemental sensor is applied to the navigational solution provided by the inertial navigation routine.

21. The method of claim 18, wherein the supplemental sensor comprises an optical sensor.

22. The method of claim 21, wherein performing the optical flow analysis comprises aggregating estimations of pixel translations between the sequence of samples from the supplemental sensor.

23. The method of claim 18, wherein the supplemental sensor comprises at least one of the group including:

(i) an optical camera;

(ii) a thermal camera;

(iii) an infra-red imaging sensor.

24. The method of claim 1, wherein determining the navigational constraint comprises determining the context for the device.

25. The method of claim 24, wherein determining the navigational constraint comprises estimating the device angle.

26. The method of claim 25, wherein determining the context of the device comprises assessing variance in a plurality of estimated device angles.

27. The method of claim 25, further comprising determining the usage of the device based at least in part on the estimated device angle.

28. The method of claim 27, wherein determining the usage of the device is also based at least in part on an orientation determination using an inertial sensor.

29. The method of claim 25, further comprising determining the context for the device corresponds to being static.

30. The method of claim 25, further comprising determining the context for the device corresponds to fidgeting motion.

31. The method of claim 25, further comprising determining the context for the device corresponds to dangling motion.

32. The method of claim 31, further comprising estimating a misalignment angle of the device with respect to a direction of motion based at least in part on the dangling motion context.

33. The method of claim 24, wherein determining the context of the device comprises comparing similarity between the sequence of samples.

34. A device comprising:

an ultrasonic sensor; and

an ultrasonic navigation module implemented at least in part with a processor, wherein the ultrasonic navigation module is configured to;

process a sequence of samples from the ultrasonic sensor of the device, wherein the processing comprises performing an ultrasonic flow analysis and wherein performing the ultrasonic flow analysis comprises determining change in relative location to an external object;

determine a navigational constraint for the device based at least in part on the processed sequence of samples, the determined navigational constraint consisting of at least one of;

a) a device angle;

b) a misalignment angle of the device with respect to a direction of motion;

c) relative heading changes obtained with respect to the external object;

d) a speed of the device, wherein processing the sequence of samples from the ultrasonic sensor further comprises determining a distance to the external object by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object, and wherein the speed of the device is estimated based at least in part on the ultrasonic flow analysis and the determined distance to the external object; and

e) a context for the device, wherein the context is determined as consisting of at least one of;

i) being static;

ii) fidgeting motion; and

iii) device usage; and

provide a navigation solution for the device based at least in part on the determined navigational constraint.

35. The device of claim 34, wherein the ultrasonic navigation module performs the ultrasonic flow analysis to estimate the device angle.

36. The device of claim 34, wherein the ultrasonic navigation module performs the ultrasonic flow analysis to estimate the misalignment angle of the device with respect to a direction of motion.

37. The device of claim 34, wherein the ultrasonic navigation module performs the ultrasonic flow analysis to estimate relative heading changes obtained with respect to the external object.

38. The device of claim 34, wherein the ultrasonic navigation module is further configured to process the sequence of samples from the ultrasonic sensor using a Doppler analysis, wherein the ultrasonic navigation module is further configured to estimate relative heading changes obtained with respect to at least one of the external object and an additional external object based at least in part on the Doppler analysis.

39. The device of claim 34, wherein the ultrasonic navigation module is further configured to process the sequence of samples from the ultrasonic sensor using a Doppler analysis to determine the speed of the device and apply the determined speed to the navigational solution.

40. The device of claim 34, further comprising inertial sensors used to provide the navigational solution, wherein the ultrasonic navigation module is configured to apply the determined navigational constraint to the navigational solution derived from the inertial sensors.

41. The device of claim 34, further comprising a supplemental sensor, wherein the ultrasonic navigation module is further configured to:

process a sequence of samples from the supplemental sensor to perform a flow analysis;

determine a distance to at least one of the external object and an additional external object by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object; and

determine an additional navigational constraint, wherein the additional constraint is a speed of the device and is determined from the flow analysis performed on the sequence of samples from the supplemental sensor by estimating the speed of the device based at least in part on the determined distance to at least one of the external object and the additional external object from the ultrasonic sensor by ranging;

wherein providing the navigational solution is based at least in part on the estimated speed from the supplemental sensor samples.

42. The device of claim 41, wherein the supplemental sensor comprises an optical sensor.

43. The device of claim 41, wherein the supplemental sensor comprises at least one of the group including:

(i) an optical camera;

(ii) a thermal camera;

(iii) an infra-red imaging sensor.

44. The device of claim 34, further comprising a gyroscope, wherein the ultrasonic navigation module is further configured to process the sequence of samples from the ultrasonic sensor to determine a distance to at least one of the external object and an additional external object by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object, to estimate a speed of the device based at least in part on the ultrasonic flow analysis and the determined distance to at least one of the external object and the additional external object, to estimate the misalignment angle of the device based at least in part on the ultrasonic flow analysis and to provide the navigational solution based at least in part on the estimated speed, the estimated misalignment angle and information from the gyroscope.

45. The device of claim 34, further comprising a magnetometer, wherein the ultrasonic navigation module is further configured to process the sequence of samples from the ultrasonic sensor to determine a distance to at least one of the external object and an additional external object by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object, to estimate the speed of the device based at least in part on the ultrasonic flow analysis and the determined distance to at least one of the external object and the additional external object, to estimate the misalignment angle of the device based at least in part on the ultrasonic flow analysis and to provide the navigational solution based at least in part on the estimated speed, the estimated misalignment angle and information from the magnetometer.

46. The device of claim 34, further comprising a gyroscope, wherein the ultrasonic navigation module is further configured to process the sequence of samples from the ultrasonic sensor using a Doppler analysis to estimate the speed of the device, to estimate the misalignment angle of the device based at least in part on the ultrasonic flow analysis and to provide the navigational solution based at least in part on the estimated speed, the estimated misalignment angle and information from the gyroscope.