Signal processing to extract a pedestrian's moving direction

• US 10,359,288 B2
• Filed: 03/26/2013
• Issued: 07/23/2019
• Est. Priority Date: 03/26/2013
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google LLC (Alphabet Inc.)
• Inventors: Yang, Qingxuan, Chang, Edward Y.
• Primary Examiner(s): Ngon, Ricky
• Application Number:
  US14/375,711
• Publication Number:
  US 20160018225A1
• Time in Patent Office: 2,310 Days
• Field of Search: 702150
• CPC Class Codes: G01C 21/16 by integrating acceleration or speed, i.e. inertial navigation
• CPC Class Codes: G01C 22/006 Pedometers
• CPC Class Codes: H04W 88/02 Terminal devices

Abstract

Disclosed here are methods and systems that relate to determining a moving direction of a mobile device user. The methods and systems relate to using an inertial navigation system such as an accelerometer and gyroscope to aid in the determination of the moving direction of the user. The methods and systems may receive an acceleration reading associated with the mobile device, and determine a step frequency of the user based on the acceleration reading. The methods and systems may determine a theoretical model to fit the acceleration reading, and may determine the moving direction of the user based on the theoretical model.

Claims

1. A method of determining a moving direction of a user of a mobile device, the method comprising:

measuring, by an accelerometer, a raw acceleration reading;

detecting, by a gyroscope, an orientation of the mobile device;

determining, by one or more processors in the mobile device based on the raw acceleration reading and the detected orientation, an acceleration signal associated with the mobile device, the acceleration signal having three dimensions including an x dimension extending generally along a North-South direction, a y dimension extending generally along an East-West direction; and

a z dimension extending generally along a direction of Earth'"'"'s gravity;

determining, by the one or more processors in the mobile device, a step frequency of the user'"'"'s footsteps based on the z dimension of the acceleration signal, wherein the z dimension of the acceleration signal indicates whether the user is raising or lowering a foot;

fitting, by a moving direction estimation unit including one or more processors in the mobile device, the acceleration signal to a model including a sinusoidal function of time based on at least the step frequency, the model representing a vibration motion of the mobile device;

determining, by the moving direction estimation unit, the moving direction of the user based on the model, wherein determining the moving direction comprises;

filtering noise;

projecting modeled accelerations along x and y axes; and

computing modeled acceleration in the moving direction as a combination of the projected modeled accelerations along the x and y axes; and

providing for display on a screen the moving direction of the user in real time for independently guiding the user toward a target position.

2. The method of claim 1, wherein the model includes a sinusoidal function according to the following equation:

M(t)=A*sin(ω

t+θ

)+A1,

where A represents an amplitude, t represents time, ω

represents an angular frequency computed based on a step frequency of the user, θ

represents a phase, and A1 represents a shift of the sinusoidal function above zero.

3. The method of claim 2, wherein the processor fits the acceleration signal in the x and y dimensions to sinusoidal functions M_x(t) and M_y(t), respectively, and each of the sinusoidal functions M_x(t) and M_y(t) is based on the sinusoidal function M(t).

4. The method of claim 3, wherein the processor determines at least one possible moving direction by:

determining amplitudes and phases of the functions M_x(t) and M_y(t);

modeling acceleration in the moving direction using a sinusoidal function M_α

(t), where α

indicates the moving direction;

determining a parameter of the function M_α

(t) based on the determined amplitudes and phases of the functions M_x(t) and M_y(t); and

determining the at least one possible moving direction based on the function M_α

(t).

5. The method of claim 4, wherein the processor determines the at least one possible moving direction based on an amplitude of the function M_α

(t).

6. The method of claim 1, further comprising updating the screen in real time with the moving direction of the user.

7. An apparatus for determining a moving direction of a user of a mobile device, the apparatus comprising:

an accelerometer configured to measure a raw acceleration reading;

a gyroscope configured to detect an orientation of the mobile device;

an acceleration determination unit, including one or more processors in the mobile device, configured to determine an acceleration signal associated with the mobile device based on the raw acceleration reading and the detected orientation, the acceleration signal having three dimensions including an x dimension extending generally along a North-South direction, a y dimension extending generally along an East-West direction; and

a z dimension extending generally along a direction of Earth'"'"'s gravity;

a step frequency determination unit, including one or more processors, configured to determine a step frequency of the user'"'"'s footsteps based on the z dimension of the acceleration signal;

a moving direction estimation unit, including one or more processors, configured to;

fit the acceleration signal to a model including a sinusoidal function of time based on at least the step frequency, the model representing a vibration motion of the mobile device;

determine the moving direction of the user based on the model, wherein determining the moving direction comprises;

filtering noise;

projecting modeled accelerations along x and y axes; and

computing modeled acceleration in the moving direction as a combination of the projected modeled accelerations along the x and y axes; and

a display in communication with the one or more processors of the moving direction estimation unit, the display configured to depict the moving direction of the user in real time for independently guiding the user toward a target position.

8. The apparatus of claim 7, wherein the processor determines the step frequency of the user based on the acceleration signals in the z dimension extending generally along the direction of the Earth'"'"'s gravity.

9. The system of claim 7, wherein the model includes a sinusoidal function according to the following equation:

M(t)=A*sin(ω

t+θ

)+A1,

where A represents an amplitude, t represents time, ω

represents an angular frequency computed based on a step frequency of the user, θ

represents a phase, and A1 represents a shift of the sinusoidal function above zero.

10. The apparatus of claim 9, wherein the processor fits the acceleration signal in the x and y dimensions to sinusoidal functions M_x(t) and M_y(t), respectively, and each of the sinusoidal functions M_x(t) and M_y(t) is based on the sinusoidal function M(t).

11. The apparatus of claim 10, wherein the processor determines at least one possible moving direction by:

determining amplitudes and phases of the functions M_x(t) and M_y(t);

modeling acceleration in the moving direction using a sinusoidal function M_α

(t), where α

indicates the moving direction;

determining a parameter of the function M_α

(t) based on the determined amplitudes and phases of the functions M_x(t) and M_y(t); and

determining the at least one possible moving direction based on the function M_α

(t).

12. The apparatus of claim 11, wherein the processor determines the at least one possible moving direction based on an amplitude of the function M_α

(t).

13. The system of claim 7, wherein the processor is further configured to update the screen in real time with the moving direction of the user.