APPARATUS AND METHOD FOR MEASURING THE ACCURATE POSITION OF MOVING OBJECTS IN AN INDOOR ENVIRONMENT
First Claim
1. An apparatus for providing accurate position of a moving object in an indoor environment, comprising:
- a Reference Positioning System (RPS)an Inertial Measurement Unit (IMU) installed on said moving object.a Coordinate Transformer (COT) coupled to the outputs of said IMU, anda Location Position Estimator (LPE) coupled to the outputs of said RPS and said COT.
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Abstract
An apparatus and method is disclosed for efficiently sensing and tracking objects in an indoor environment by simultaneously measuring the object movement with an inertial navigation system and a reference location positioning system. By combining the measurements obtained with accelerometers, gyroscopes, angle estimators and the reference system using an extended Kalman filter based approach, a position estimate is obtained with high reliability and precision accuracy. Improvement in performance is obtained by the incorporation of dynamic mode switching and forward-backward smoothing in the location position estimator.
105 Citations
14 Claims
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1. An apparatus for providing accurate position of a moving object in an indoor environment, comprising:
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a Reference Positioning System (RPS) an Inertial Measurement Unit (IMU) installed on said moving object. a Coordinate Transformer (COT) coupled to the outputs of said IMU, and a Location Position Estimator (LPE) coupled to the outputs of said RPS and said COT. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for accurately determining the position of a moving object in an indoor environment using a combination of an Inertial Measurement Unit (IMU) and a Reference Positioning System (RPS), comprising the steps of:
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obtaining reference position data from said RPS, obtaining additional data on moving object from said IMU, and estimating the position of the moving object from the data obtained from the RPS and the IMU. - View Dependent Claims (12, 13, 14)
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Specification