Heading Error Removal System for Tracking Devices

• US 20110087450A1
• Filed: 10/22/2010
• Published: 04/14/2011
• Est. Priority Date: 04/03/2009
• Status: Abandoned Application

• Current Assignee: Board of Regents of the University of Michigan (University of Michigan)
• Original Assignee: University of Michigan
• Inventors: Ojeda, Lauro, Thomas, David L., Borenstein, Johann
• Application Number:
  US12/910,376
• Publication Number:
  US 20110087450A1
• Time in Patent Office: Days
• US Class Current: 702/92
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation

Abstract

Systems are able to reduce or remove slowly-varying drift errors, such as heading errors, rate of rotation errors, and direction of travel errors, to correct the measurements from tracking devices. The systems may be used to remove the slow varying drift errors for gyroscopic tracking device sensors, or other types of sensors used for determining heading, rates of rotation, direction of travel, or position. The systems may be employed in personal dead reckoning systems, or other personnel tracking device, as well as in vehicle tracking devices. The system uses heuristic assumptions to correct for these drift errors, via a feedback loop control having an accumulator responsive to changes in output signals. The accumulator is able to produce a signal that over time compensates for the inherent drift errors on those output signals.

Claims

1. A method for determining a direction of travel of a tracking device, the method comprising:

receiving measurements from a sensor assembly of the tracking device at a controller of the tracking device;

determining, using the controller, an indication of the direction of travel of the tracking device based on the measurements from the sensor assembly; and

removing, using the controller, drift error from the indication of the direction of travel of the tracking device, based on a deviation of a previous direction of travel associated with the tracking device from one of a plurality of dominant directions, to generate a corrected indication of the direction of travel of the tracking device.

2. The method of claim 1, further comprising the controller determining a location of the tracking device based on the corrected indication of the direction of travel of the tracking device.

3. The method of claim 1, wherein the indication of the direction of travel of the tracking device is based on a change of an adjusted direction of travel of the tracking device, wherein the adjusted direction of travel is determined such that, when the tracking device travels backward relative to a direction in which the tracking device is pointed, the change of the adjusted direction of travel corresponding to the backward travel of the tracking device is less than a change of the direction of travel of the tracking device corresponding to the backward travel of the tracking device.

4. The method of claim 3, wherein determining the indication of the direction of travel of the tracking device includes the controller detecting whether the tracking device is traveling backward relative to the direction in which the tracking device is pointed, the method further comprising determining a location of the tracking device by determining, in response to detecting that the tracking device is traveling backward relative to the direction in which the tracking device is pointed, that the direction of travel of the tracking device is opposite the direction of travel indicated by the corrected indication of the direction of travel.

5. The method of claim 3, the method further comprising determining the adjusted direction of travel of the tracking device by:

the controller estimating the direction of travel of the tracking device and the direction in which the tracking device is pointed;

the controller determining that the adjusted direction of travel of the tracking device is the same as the estimated direction of travel of the tracking device when the estimated direction of travel of the tracking device is forward relative to the estimated direction in which the tracking device is pointed; and

the controller determining that the adjusted direction of travel of the tracking device is opposite the estimated direction of travel of the tracking device when the estimated direction of travel of the tracking device is backward relative to the estimated direction in which the tracking device is pointed.

6. The method of claim 5, wherein the sensor assembly includes a gyroscopic device to measure a rate of rotation of the tracking device, and wherein estimating the direction in which the tracking device is pointed is performed using the measured rate of rotation.

7. The method of claim 1, wherein the drift error is a normalized drift error that has had static drift error removed, and wherein removing the drift error from the indication of the direction of travel of the tracking device comprises:

the controller applying the indication of the direction of travel to a closed loop feedback control, wherein the closed loop feedback control uses the previous direction of travel associated with the tracking device to produce a correction signal that counteracts the effects of the drift error of within the indication of the direction of travel, and wherein the correction signal is produced based on the deviation of the previous direction of travel associated with the tracking device from the one dominant direction; and

the controller generating the corrected indication of the direction of travel based on the correction signal and the indication of the direction of travel.

8. The method of claim 7, wherein the previous direction of travel associated with the tracking device is a previously determined adjusted direction of travel of the tracking device.

9. The method of claim 8, wherein the closed loop feedback control is to map the previously determined adjusted direction of travel of the tracking device onto one of the one dominant direction and a second one of the plurality of dominant directions to form a mapped feedback adjusted direction of travel, and wherein the closed loop feedback control produces the correction signal by accumulating error values corresponding to a difference between the mapped feedback adjusted direction of travel and a baseline adjusted direction of travel.

10. The method of claim 9, wherein the baseline adjusted direction of travel is set to a value between the one dominant direction and the second dominant direction.

11. The method of claim 9, wherein the closed loop feedback control is to map the previously determined adjusted direction of travel onto one of the one dominant direction and the second dominant direction by supplying the previously determined adjusted direction of travel to a controller that performs a MOD function on the previously determined adjusted direction of travel, where the MOD function is expressed as:

MOD(ψ

,Δ

)=ψ

−

Δ

INT(ψ

/Δ

)

where ψ

is the previously determined adjusted direction of travel and Δ

is a difference between the one dominant direction and the second dominant direction, and wherein INT(ψ

/Δ

) is a function that rounds ψ

/Δ

down to the nearest integer.

12. The method of claim 9, further comprising the controller supplying the mapped feedback adjusted direction of travel and the baseline adjusted direction of travel to a comparator that produces a feedback loop error signal, wherein accumulating the error values corresponding to the difference between the mapped feedback adjusted direction of travel and the baseline adjusted direction of travel comprises supplying the feedback loop error signal to an accumulator that accumulates the feedback loop error signal to produce the correction signal.

13. The method of claim 12, further comprising the controller determining whether the feedback loop error signal represents a positive drift error or a negative drift error, and if a positive drift error increasing the correction signal by an increment amount, and if a negative drift error decreasing the correction signal by the increment amount.

14. The method of claim 1, wherein the tracking device is a personal dead reckoning system.

15. The method of claim 1, wherein the tracking device is a vehicle tracking system.

16. A tracking device comprising:

a sensor assembly;

a memory having computer-executable instructions stored therein; and

a controller to execute the computer-executable instructions, the computer executable instructions for,

determining an indication of a direction of travel of the tracking device based on measurements from the sensor assembly; and

removing drift error from the indication of the direction of travel of the tracking device, based on a deviation of a previous direction of travel associated with the tracking device from one of a plurality of dominant directions, to generate a corrected indication of the direction of travel of the tracking device.

17. The tracking device of claim 16, wherein the controller is to execute further computer-executable instructions for determining a location of the tracking device based on the corrected indication of the direction of travel of the tracking device.

18. The tracking device of claim 16, wherein the computer-executable instructions for determining the indication of the direction of travel of the tracking device include computer-executable instructions for determining the indication of the direction of travel of the tracking device based on a change of an adjusted direction of travel of the tracking device, wherein the adjusted direction of travel is determined such that, when the tracking device travels backward relative to a direction in which the tracking device is pointed, the change of the adjusted direction of travel corresponding to the backward travel of the tracking device is less than a change of the direction of travel of the tracking device corresponding to the backward travel of the tracking device.

19. The tracking device of claim 18, wherein the computer-executable instructions for determining the indication of the direction of travel of the tracking device include computer-executable instructions for detecting whether the tracking device is traveling backward relative to the direction in which the tracking device is pointed, and wherein the controller is to execute further computer-executable instructions for determining a location of the tracking device by determining, in response to detecting that the tracking device is traveling backward relative to the direction in which the tracking device is pointed, that the direction of travel of the tracking device is opposite the direction of travel indicated by the corrected indication of the direction of travel.

20. The tracking device of claim 18, wherein the computer-executable instructions for determining the indication of the direction of travel of the tracking device include computer-executable instructions for:

estimating the direction of travel of the tracking device and the direction in which the tracking device is pointed;

determining that the adjusted direction of travel of the tracking device is the same as the estimated direction of travel of the tracking device when the estimated direction of travel of the tracking device is forward relative to the estimated direction in which the tracking device is pointed; and

determining that the adjusted direction of travel of the tracking device is opposite the estimated direction of travel of the tracking device when the estimated direction of travel of the tracking device is backward relative to the estimated direction in which the tracking device is pointed.

21. The tracking device of claim 20, wherein the sensor assembly includes a gyroscopic device to measure a rate of rotation of the tracking device, and wherein the computer-executable instructions for estimating the direction of travel of the tracking device and the direction in which the tracking device is pointed include computer-executable instructions for using the measured rate of rotation to estimate the direction in which the tracking device is pointed.

22. The tracking device of claim 16, wherein the drift error is a normalized drift error that has had static drift error removed, and wherein the computer-executable instructions for removing the drift error from the indication of the direction of travel of the tracking device include computer-executable instructions for:

applying the indication of the direction of travel to a closed loop feedback control, wherein the closed loop feedback control uses the previous direction of travel associated with the tracking device to produce a correction signal that counteracts the effects of the drift error within the indication of the direction of travel, and wherein the correction signal is produced based on the deviation of the previous direction of travel associated with the tracking device from the one dominant direction; and

generating the corrected indication of the direction of travel based on the correction signal and the indication of the direction of travel.

23. The tracking device of claim 22, wherein the previous direction of travel associated with the tracking device is a previously determined adjusted direction of travel of the tracking device.

24. The tracking device of claim 23, wherein the computer-executable instructions for applying the previous direction of travel associated with the tracking device to the closed loop feedback control include computer-executable instructions for:

using the closed-loop feedback control to map the previously determined adjusted direction of travel of the tracking device onto one of the one dominant direction and a second one of the plurality of dominant directions to form a mapped feedback adjusted direction of travel; and

using the closed loop feedback control to produce the correction signal by accumulating error values corresponding to a difference between the mapped feedback adjusted direction of travel and a baseline adjusted direction of travel.

25. The tracking device of claim 24, wherein the computer-executable instructions for applying the previous direction of travel associated with the tracking device to the closed loop feedback control include computer-executable instructions for setting the baseline adjusted direction of travel to a value between the one dominant direction and the second dominant direction.

26. The tracking device of claim 24, wherein the computer-executable instructions for using the closed loop feedback control to map the previously determined adjusted direction of travel of the tracking device onto one of the one dominant direction and the second dominant direction include computer-executable instructions for performing a MOD function on the previously determined adjusted direction of travel, wherein the MOD function is expressed as:

MOD(ψ

,Δ

)=INT(ψ

/Δ

)

where ψ

is the previously determined adjusted direction of travel and Δ

is a difference between the one dominant direction and the second dominant direction, and wherein INT(ψ

/Δ

) is a function that rounds ψ

/Δ

down to the nearest integer.

27. The tracking device of claim 24, wherein the computer-executable instructions for using the closed loop feedback control to produce the correction signal include computer-executable instructions for:

supplying the mapped feedback adjusted direction of travel and the baseline adjusted direction of travel to a comparator that produces a feedback loop error signal; and

supplying the feedback loop error signal to an accumulator that accumulates the feedback loop error signal to produce the correction signal.

28. The tracking device of claim 27, wherein the computer-executable instructions for supplying the feedback loop error signal to the accumulator include computer-executable instructions for:

determining whether the feedback loop error signal represents a positive drift error or a negative drift error;

if the feedback loop error signal represents a positive drift error, increasing the correction signal by an increment amount; and

if the feedback loop error signal represents a negative drift error, decreasing the correction signal by an increment amount.

29. The tracking device of claim 16, wherein the tracking device is a personal dead reckoning system.

30. The tracking device of claim 16, wherein the tracking device is a vehicle tracking system.

31. A method for removing drift error from a tracking device having a sensor assembly, the method comprising:

receiving measurements from the sensor assembly at a controller of the tracking device;

determining, using the controller, an indication of a direction of travel of the tracking device based on the measurements from the sensor assembly;

supplying the indication of the direction of travel to a closed loop feedback control of the controller that is to perform a low pass filtering on an indication of a previous direction of travel of the tracking device and that is to map the indication of the previous direction of travel onto one of a plurality of dominant directions to form a mapped indication of the previous direction of travel;

an accumulator within the closed loop feedback control accumulating error values corresponding to a difference between the mapped indication of the previous direction of travel and a baseline direction of travel;

the closed loop feedback control producing an integrator signal that counteracts the effects of drift error of within the indication of the direction of travel, wherein the drift error is a normalized drift error that has had static drift error removed; and

correcting the indication of the direction of travel by applying the integrator signal to the indication of the direction of travel to produce a corrected indication of the direction of travel.

32. The method of claim 31, wherein the baseline direction of travel is set to a value between at least two of the plurality of dominant directions.

33. The method of claim 32, further comprising the controller mapping the indication of the previous direction of travel onto one of the plurality of dominant directions by supplying the indication of the previous direction of travel to a controller that performs a MOD function on the indication of the previous direction of travel, where the MOD function is expressed as:

MOD(ψ

,Δ

)=ψ

−

Δ

INT(ψ

/Δ

)

where ψ

is one of the plurality of dominant directions and Δ

is the baseline direction of travel, and wherein INT(ψ

/Δ

) is a function that rounds ψ

/Δ

down to the nearest integer.

34. The method of claim 31, further comprising:

the controller supplying the mapped indication of the previous direction of travel and the baseline direction of travel to a comparator that produces a feedback loop error signal; and

the controller supplying the feedback loop error signal to the accumulator, wherein the accumulator accumulates the error signal to produce the integrator signal.

35. The method of claim 34, further comprising the controller determining whether the feedback loop error signal represents a positive drift error or a negative drift error, and if a positive drift error increasing the integrator signal by an increment amount, and if a negative drive error decreasing the integrator signal by the increment amount.

36. The method of claim 31, wherein the tracking device is a personal dead reckoning system.

37. The method of claim 31, wherein the tracking device is a vehicle tracking device.