Methods for improved heading estimation

• US 10,393,542 B2
• Filed: 07/11/2017
• Issued: 08/27/2019
• Est. Priority Date: 06/12/2012
• Status: Active Grant

• Current Assignee: TRX Systems, Inc.
• Original Assignee: TRX Systems, Inc.
• Inventors: Funk, Benjamin E., Hakim, Dan, Karvounis, John, Young, Travis, Teolis, Carole
• Primary Examiner(s): Le, John H
• Application Number:
  US15/647,004
• Publication Number:
  US 20170307403A1
• Time in Patent Office: 777 Days
• Field of Search: 702 92, 702 93, 701446, 701495, 34099519, 33356
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38

Abstract

Methods for calibrating a body-worn magnetic sensor by spinning the magnetic sensor 360 degrees to capture magnetic data; if the spin failed to produce a circle contained in an x-y plane fit a sphere to the captured data; determining offsets based on the center of the sphere; and removing the offsets that are in the z-direction. Computing a magnetic heading reliability of a magnetic sensor by determining an orientation of the sensor at one location; transforming the orientation between two reference frames; measuring a first vector associated with the magnetic field of Earth at the location; processing the first vector to generate a virtual vector when a second location is detected; measuring a second vector associated with the magnetic field of Earth at the second location; and calculating the magnetic heading reliability at the second location based on a comparison of the virtual vector and the second vector.

Claims

1. A computer implemented method, comprising:

receiving sensor data from a tracked computing device, the sensor data including magnetic data from a magnetic sensor and gyro data from a gyro sensor;

determining a magnetic heading based on the magnetic data and a gyro heading based on the gyro data;

determining path data for the tracked device comprising a plurality of tracking points based, at least, on the magnetic heading, the gyro heading, and a navigation parameter, the navigation parameter accounting for sensor calibration error in the magnetic sensor and the gyro sensor;

calculating a constraint for the navigation parameter; and

optimizing the path data by applying the constraint to the navigation parameter; and

updating the path data based on the optimization.

2. The method of claim 1, wherein the navigation parameter is a rotation, a path scale, or a drift.

3. The method of claim 2, wherein the constraint for the rotation is based on a weighted standard deviation of the magnetic data.

4. The method of claim 3, wherein the weighted standard deviation assumes a Gaussian distribution.

5. The method of claim 2, wherein the constraint for the rotation is based on an angle between lines tangent to two constraint circles, wherein each constraint circle indicates an error bound around a tracking point from the plurality of tracking points.

6. The method of claim 2, wherein the constraint for the path scale is based on a distance between two tracking points from the plurality of tracking points, a path length between the two tracking points, and a radius of two constraint circles, wherein each constraint circle indicates an error bound around each tracking point from the two tracking points.

7. The method of claim 6, wherein the path data between the two tracking points is linear.

8. The method of claim 2, wherein the constraint for the drift is based on a standard deviation of a computed drift, wherein the computed drift is calculated from the magnetic heading and the gyro heading.

9. The method of claim 8, wherein the computed drift is further based on a best fit line of a difference between the magnetic heading and the gyro heading.

10. The method of claim 1, wherein optimizing the path data further comprises satisfying the constraint with a particle solver.

11. A computer readable storage medium comprising instructions that, when executed on a computing system of a tracked device having a magnetic sensor and a gyro sensor, cause the computing system to:

receive sensor data, the sensor data including magnetic data from the magnetic sensor and gyro data from the gyro sensor;

determine a magnetic heading based on the magnetic data and a gyro heading based on the gyro data;

determine path data for the tracked device comprising a plurality of tracking points, based, at least, on the magnetic heading, the gyro heading, and a navigation parameter, the navigation parameter accounting for sensor calibration error in the magnetic sensor and the gyro sensor;

calculate a constraint for the navigation parameter;

optimize the path data by applying the constraint to the navigation parameter; and

updating the path data based on the optimization.

12. The computer readable storage medium of claim 11, wherein the navigation parameter is a rotation, a path scale, or a drift.

13. The computer readable storage medium of claim 12, wherein the constraint for the rotation is based on a weighted standard deviation of the magnetic data.

14. The computer readable storage medium of claim 12, wherein the constraint for the rotation is based on an angle between lines tangent to two constraint circles, wherein each constraint circle indicates an error bound around each tracking point for two tracking points from the plurality of tracking points.

15. The computer readable storage medium of claim 14, wherein the constraint for the rotation is calculated by:

2 arcsin((R₁+R₂)/D),

wherein R₁ and R₂ are radii of the two constraint circles, and D is a distance between the two tracking points.

16. The computer readable storage medium of claim 12, wherein the constraint for the path scale is based on a distance, D, between two tracking points from the plurality of tracking points, a path length, L, between the two tracking points, and radii, R₁ and R₂, of two constraint circles, wherein each constraint circle indicates an error bound around each tracking point of the two tracking points.

17. The computer readable storage medium of claim 16, wherein the constraint for the path scale is calculated by:

(D+R₁+R₂)/(L)and(D−

R₁−

R₂)/(L).

18. The computer readable storage medium of claim 12, wherein the constraint for the drift is based on a standard deviation of a computed drift, wherein the computed drift is calculated from the magnetic heading and the gyro heading.

19. A computing system comprising:

a processor;

a memory communicatively coupled to the processor, the memory bearing instructions that, when executed on the processor, cause the computing system to;

receive sensor data from a tracked computing device, the sensor data including magnetic data from a magnetic sensor and gyro data from a gyro sensor;

determine a magnetic heading, based on the magnetic data, and a gyro heading, based on the gyro data;

determine path data for the tracked device comprising a plurality of tracking points, based, at least, on the magnetic heading, the gyro heading, and a navigation parameter, the navigation parameter accounting for sensor calibration error in the magnetic sensor and the gyro sensor;

calculate a constraint for the navigation parameter;

optimize the path data by applying the constraint to the navigation parameter; and

updating the path data based on the optimization.

20. The system of claim 19, wherein the instructions that optimize the path data, when executed on the processor, further cause the computing system to at least:

satisfy the constraint using a particle solver.