Methods for improved heading estimation
First Claim
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.
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Accused Products
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.
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Citations
20 Claims
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1. A computer implemented method, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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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:
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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. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A computing system comprising:
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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. - View Dependent Claims (20)
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Specification