Methods and systems for vertical trajectory determination and automatic jump detection
First Claim
1. A jump detection system for a device comprising an inertial measurement unit (IMU) integrated with a barometric altimeter in the same device, the jump detection system comprising:
- a first Kalman filter connected to a rate of turn input and to an acceleration input to estimate a roll and pitch of the device based on the rate of turn input and the acceleration input;
a second Kalman filter connected to the acceleration input, to a barometric pressure input, and to the first Kalman filter;
the second Kalman filter cascaded with the first Kalman filter to receive the estimate of the roll and pitch of the device from the first Kalman filter and to estimate vertical position and vertical velocity of the device based on the acceleration input, the barometric pressure input using barometric altimeter, and the estimate of the roll and pitch of the device; and
a processor connected to the first Kalman filter and to the second Kalman filter, the processor configured to;
record time-series data of both a vertical component of the acceleration input and the estimate of the vertical velocity of the device;
detect a potential jump by comparing the vertical component of the acceleration input to one or more acceleration thresholds; and
validate the potential jump by comparing a difference between a maximum velocity and a minimum velocity within a threshold range of the potential jump in the time-series data of the estimate of the vertical velocity of the device to a velocity threshold.
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Abstract
The present disclosure provides a jump detection system for inertial measurement unit (IMU) integrated with a barometric altimeter in the same device (IMU-baro). The processor is configured to record time-series data of both a vertical component of the measured IMU-baro acceleration and the estimated vertical velocity of the IMU-baro, detect a potential jump by comparing the vertical component of the measured IMU-baro acceleration to one or more acceleration thresholds, and, validate the potential jump by comparing a difference between a maximum velocity and a minimum velocity within a vicinity of the potential jump in the time-series data of the estimated vertical velocity of the IMU-baro to a velocity threshold.
22 Citations
15 Claims
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1. A jump detection system for a device comprising an inertial measurement unit (IMU) integrated with a barometric altimeter in the same device, the jump detection system comprising:
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a first Kalman filter connected to a rate of turn input and to an acceleration input to estimate a roll and pitch of the device based on the rate of turn input and the acceleration input; a second Kalman filter connected to the acceleration input, to a barometric pressure input, and to the first Kalman filter;
the second Kalman filter cascaded with the first Kalman filter to receive the estimate of the roll and pitch of the device from the first Kalman filter and to estimate vertical position and vertical velocity of the device based on the acceleration input, the barometric pressure input using barometric altimeter, and the estimate of the roll and pitch of the device; anda processor connected to the first Kalman filter and to the second Kalman filter, the processor configured to; record time-series data of both a vertical component of the acceleration input and the estimate of the vertical velocity of the device; detect a potential jump by comparing the vertical component of the acceleration input to one or more acceleration thresholds; and validate the potential jump by comparing a difference between a maximum velocity and a minimum velocity within a threshold range of the potential jump in the time-series data of the estimate of the vertical velocity of the device to a velocity threshold. - View Dependent Claims (2, 3, 4, 5)
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6. A computer program product, comprising a non-transitory computer readable storage medium having a computer readable program code embodied therein, the computer readable program code adapted to be executed to implement instructions to:
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measure a rate of turn of an IMU-baro, an acceleration of the IMU-baro, and a barometric pressure; estimate, according to a first Kalman filter operation, a roll and pitch of the IMU-baro based on the rate of turn and the acceleration; provide the roll and pitch estimate from the first Kalman filter operation to a second Kalman filter operation; estimate, according to the second Kalman filter operation, a vertical position and a vertical velocity of the IMU-baro based on the acceleration, the barometric pressure, and the roll and pitch estimate; determine the vertical position and the vertical velocity of the IMU-baro based on the estimate of the vertical position and the vertical velocity; record time-series data of both a vertical component of the acceleration and the estimate of the vertical velocity of the IMU-baro; detect a potential jump by comparing the vertical component of the acceleration to one or more acceleration thresholds; and validate the potential jump by comparing a difference between a maximum velocity and a minimum velocity within a threshold range of the potential jump in the time-series data of the estimate of the vertical velocity of the IMU-baro to a velocity threshold. - View Dependent Claims (7, 8, 9, 10)
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11. An apparatus for jump detection including an inertial measurement unit (IMU) integrated with a barometric altimeter in the same apparatus, the apparatus comprising:
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a first Kalman filter connected to a rate of turn input and to an acceleration input to estimate a roll and pitch of the apparatus based on the rate of turn input and the acceleration input; a second Kalman filter connected to the acceleration input, to a barometric pressure input, and to the first Kalman filter;
the second Kalman filter cascaded with the first Kalman filter to receive the estimate of the roll and pitch of the apparatus from the first Kalman filter and to estimate a vertical position and a vertical velocity of the apparatus based on the acceleration input, the barometric pressure input using barometric altimeter, and the estimate of the roll and pitch of the apparatus; anda processor connected to the first Kalman filter and to the second Kalman filter, the processor configured to; record time-series data of both a vertical component of the acceleration input and the estimate of the vertical velocity of the apparatus; detect a potential jump by comparing the vertical component of the acceleration input to one or more acceleration thresholds; and validate the potential jump by comparing a difference between a maximum velocity and a minimum velocity within a threshold range of the potential jump in the time-series data of the estimate of the vertical velocity of the apparatus to a velocity threshold. - View Dependent Claims (12, 13, 14, 15)
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Specification