Inertial device to estimate position based on corrected movement velocity

• US 10,408,627 B2
• Filed: 11/22/2016
• Issued: 09/10/2019
• Est. Priority Date: 11/30/2015
• Status: Active Grant

• Current Assignee: Ricoh Company Limited
• Original Assignee: Ricoh Company Limited
• Inventors: Matsushita, Yusuke
• Primary Examiner(s): Wiltey, Nicholas K
• Application Number:
  US15/358,893
• Publication Number:
  US 20170153110A1
• Time in Patent Office: 1,022 Days
• Field of Search: None
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation

Abstract

To improve indoor positioning accuracy, an inertial device includes a traveling direction estimator configured to estimate a traveling direction and movement velocity, based on an output of a sensor, a position estimator configured to generate an estimated position of the inertial device by use of an inertial navigation system, based on the traveling direction and the movement velocity estimated by the traveling direction estimator, an absolute position information acquirer configured to acquire absolute position information which is provided externally, a position corrector configured to correct the estimated position based on the absolute position information and generate a corrected position, upon acquiring the absolute position information, and a traveling direction corrector configured to correct the traveling direction based on a gap between a direction from a predetermined position to the estimated position and a direction from the predetermined position to the corrected position.

Claims

1. An inertial device, comprising:

processing circuitry configured to

estimate a traveling direction and a movement velocity, based on an output of a sensor;

generate an estimated position of the inertial device by use of an inertial navigation system, based on the estimated traveling direction and the estimated movement velocity;

acquire absolute position information from externally provided signals;

correct the estimated position based on the absolute position information and generate a corrected position, upon acquiring the absolute position information; and

correct the traveling direction based on a gap between a first direction from a predetermined position to the estimated position and a second direction from the predetermined position to the corrected position,

wherein the processing circuitry is further configured to correct the movement velocity based on (1) a first distance between a corrected position generated in response to acquiring the absolute position information in a lastly entered area and a corrected position generated in response to acquiring the absolute position information in a newly entered area, and (2) a second distance between the corrected position generated in response to acquiring the absolute position information in the lastly entered area and an estimated position generated before being corrected in response to acquiring the absolute information in the newly entered area.

2. The inertial device according to claim 1, wherein the processing circuitry is further configured to

calculate a direction correcting parameter for correcting the traveling direction, based on the gap between the first direction from the predetermined position to the estimated position and the second direction from the predetermined position to the corrected position, and

correct the traveling direction using the direction correcting parameter.

3. The inertial device according to claim 2, wherein the processing circuitry is further configured to

acquire the absolute position information each time the inertial device enters one of a plurality of areas in which the absolute position information, which corresponds to the one of the plurality of areas, is wirelessly provided,

calculate a movement speed correcting parameter for correcting the movement velocity, based on a ratio of the first distance to the second distance,

correct the movement velocity based on the movement speed correcting parameter, and

generate the estimated position based on the corrected movement velocity.

4. The inertial device according to claim 3, wherein the processing circuitry is further configured to calculate the ratio of the first distance to the second distance, and multiply the movement velocity by the ratio in order to correct the movement velocity.

5. The inertial device according to claim 3, wherein the processing circuitry is further configured to calculate the ratio of the first distance to the second distance, and acquire a correction value from a table that associates the ratio and the correction value, and then multiply the movement velocity by the correction value in order to correct the movement velocity.

6. The inertial device according to claim 2, wherein the processing circuitry is further configured to estimate error information with regard to the estimated position at a time of correcting the estimated position using parametric statistics, and change values of the direction correcting parameter, depending on an amount of error included in the error information.

7. The inertial device according to claim 2, further comprising:

a position memory to store at least one estimated position generated by the processing circuitry in a chronological order, and

wherein the processing circuitry is further configured to

acquire the absolute position information each time the inertial device enters one of a plurality of areas in which the absolute position information which corresponds to the one of the plurality of areas is wirelessly provided, and

calculate the direction correcting parameter, upon detecting, based on the at least one estimated position stored in the position memory, that a distance between the corrected position generated in response to acquiring the absolute position information in the lastly entered area and a latest one of the at least one estimated position generated before being corrected by the position corrector in response to acquiring the absolute position information in the newly entered area is further than a predetermined distance.

8. The inertial device according to claim 6, wherein the processing circuitry is further configured to estimate the error information with regard to the estimated position at the time of correcting the estimated position using the parametric statistics, and calculate the direction correcting parameter, upon detecting that the amount of error included in the error information is smaller than a threshold value.

9. The inertial device according to claim 2, wherein the processing circuitry is further configured to fix, by use of the direction correcting parameter, a direction cosine that is indicative of the traveling direction in a direction cosine matrix, and then multiply the output of the sensor by the fixed direction cosine matrix, in order to correct the traveling direction.

10. The inertial device of claim 2, wherein the processing circuitry is further configured to calculate a yaw angle as the direction correcting parameter.

11. A non-transitory computer-readable recording medium storing a program for causing a computer to execute a process, the process comprising:

estimating a traveling direction and a movement velocity, based on an output of a sensor;

generating an estimated position of an inertial device by use of an inertial navigation system, based on the estimated traveling direction and the estimated movement velocity;

acquiring absolute position information from externally provided signals;

correcting the estimated position based on the absolute position information and generating a corrected position, upon acquiring the absolute position information; and

correcting the traveling direction based on a gap between a direction from a predetermined position to the estimated position and a direction from the predetermined position to the corrected position,

wherein the method further comprises correcting the movement velocity based on (1) a first distance between a corrected position generated in response to acquiring the absolute position information in a lastly entered area and a corrected position generated in response to acquiring the absolute position information in a newly entered area, and (2) a second distance between the corrected position generated in response to acquiring the absolute position information in the lastly entered area and an estimated position generated before being corrected in response to acquiring the absolute information in the newly entered area.

12. A method for positioning, the method comprising:

estimating a traveling direction and a movement velocity, based on an output of a sensor;

generating an estimated position of an inertial device by use of an inertial navigation system, based on the estimated traveling direction and the estimated movement velocity;

acquiring absolute position information from externally provided signals;

correcting the estimated position based on the absolute position information and generating a corrected position, upon acquiring the absolute position information; and

correcting the traveling direction based on a gap between a direction from a predetermined position to the estimated position and a direction from the predetermined position to the corrected position,

wherein the method further comprises correcting the movement velocity based on (1) a first distance between a corrected position generated in response to acquiring the absolute position information in a lastly entered area and a corrected position generated in response to acquiring the absolute position information in a newly entered area, and (2) a second distance between the corrected position generated in response to acquiring the absolute position information in the lastly entered area and an estimated position generated before being corrected in response to acquiring the absolute information in the newly entered area.