MULTIPLE DATA SOURCES PEDESTRIAN NAVIGATION SYSTEM
First Claim
1. A method of pedestrian navigation based on an external positioning system and a Dead Reckoning (DR) system, the method comprising:
- obtaining external position readings from a remote external source, and DR position readings from a pedestrian-carried platform;
estimating an external positioning source error, based at least partially on the external position readings and the DR position readings; and
applying an estimation function to the external position readings, the DR position readings, and the external positioning source error, to yield a corrected estimated position.
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Abstract
A method of pedestrian navigation, based on an external positioning system and a Dead Reckoning (DR) system, is provided herein. The method may employ the following steps: obtaining external positioning readings from an external positioning source and DR position readings from a pedestrian-carried platform; estimating an external positioning error, based at least partially on the external positioning and the DR position readings; and applying an estimation function to the external position readings, the DR position readings, and the external positioning errors, to yield a corrected estimated position.
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Citations
16 Claims
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1. A method of pedestrian navigation based on an external positioning system and a Dead Reckoning (DR) system, the method comprising:
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obtaining external position readings from a remote external source, and DR position readings from a pedestrian-carried platform; estimating an external positioning source error, based at least partially on the external position readings and the DR position readings; and applying an estimation function to the external position readings, the DR position readings, and the external positioning source error, to yield a corrected estimated position. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for calibrating a pedestrian-carried Dead Reckoning (DR) system comprising:
recording a sequence of bodily movements; and
analyzing the sequence to yield at least one of;
calibration data associated with magnetic characteristics of the bodily environment and alignment or orientation data associated with alignment or orientation respectively of the DR system on the body, wherein the calibration data is useable for calibration of the DR system and wherein the alignment or orientation data is useable for determining direction of advancement of the pedestrian.
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8. A system for pedestrian navigation comprising:
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an external positioning system; a Dead Reckoning (DR) system; an external positioning error estimation module; and a corrected position estimation module, wherein the external positioning error estimation module is configured to; obtain external positioning and DR position readings from the external positioning and the DR systems located on a pedestrian-carried platform, wherein the external positioning reading is provided remotely; and estimate an external positioning error, based at least partially on the external positioning and the DR position readings, and wherein the corrected position estimation module applies an estimation function to the external positioning readings, the DR position readings, and the external positioning error, to yield a corrected estimated position. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A pedestrian navigation system comprising:
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A Dead reckoning (DR) system; a terrain/floor plan database; a DR error estimation module; and a corrected position estimation module, wherein the DR system is configured to generate DR position readings, wherein the DR error estimation module is configured to derive pedestrian-eligible positions from the terrain/floor plan database and estimate external DR errors based on the pedestrian-eligible positions and the DR position readings, wherein the corrected position estimation module is configured to apply an estimation function to the DR position readings and the estimated DR errors respectively, to yield an improved corrected estimated position.
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15. A system for calibrating a pedestrian-carried Dead Reckoning (DR) system comprising:
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a DR module configured to generate DR position readings; sensors configured to record a sequence of bodily movements; an analyzing module configured to analyze the recorded sequence to yield at least one of;
calibration data associated with magnetic characteristics of the bodily environment and alignment or orientation data associated with alignment or orientation respectively of the DR system on the body, wherein the calibration data is useable for calibration of the DR system and wherein the alignment or orientation data is useable for determining direction of advancement of the pedestrian. - View Dependent Claims (16)
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Specification