INERTIAL DEVICE, METHOD, AND PROGRAM

• US 20150330791A1
• Filed: 01/30/2014
• Published: 11/19/2015
• Est. Priority Date: 02/04/2013
• Status: Abandoned Application

• Current Assignee: Ricoh Company Limited
• Original Assignee: Ricoh Company Limited
• Inventors: MATSUSHITA, Yusuke
• Application Number:
  US14/651,273
• Publication Number:
  US 20150330791A1
• Time in Patent Office: Days
• US Class Current: 1/1
• 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

An inertial device is disclosed that includes an inertial sensor unit configured to generate an output representing motion of a target holding the inertial device; a storage unit configured to store factors which are associated with different outputs to be generated by the inertial sensor unit, respectively; a generation unit configured to generate a waveform which represents variation of velocity of the inertial device in a predetermined period by using one of the factors corresponding to the output generated by the inertial sensor unit; a combination unit configured to combine the waveform with one or more previous waveforms which have been generated by the generation unit; and an estimation unit configured to estimate a position where the inertial device is currently located using a velocity obtained from the combined waveform.

Claims

1. An inertial device comprising:

an inertial sensor unit configured to generate an output representing motion of a target holding the inertial device;

a storage unit configured to store factors which are associated with different outputs to be generated by the inertial sensor unit, respectively;

a generation unit configured to generate a waveform which represents variation of velocity of the inertial device in a predetermined period by using one of the factors corresponding to the output generated by the inertial sensor unit;

a combination unit configured to combine the waveform with one or more previous waveforms which have been generated by the generation unit; and

an estimation unit configured to estimate a position where the inertial device is currently located using a velocity obtained from the combined waveform.

2. The inertial device as claimed in claim 1,

wherein the factors are also associated with attributes of the target holding the inertial device, and the generation unit generates the waveform using the one of the factors corresponding to both the output generated by the inertial sensor unit and one of the attributes of the target holding the inertial device.

3. The inertial device as claimed in claim 1,

wherein the output includes at least one of a velocity in a horizontal direction;

an acceleration in a vertical direction;

a cycle of the traveling motion;

a traveling direction of the inertial device; and

an amplitude of the traveling motion from side to side to the traveling direction.

4. The inertial device as claimed in claim 1,

wherein the estimation unit estimates the position where the inertial device is currently located using both the velocity and given error data representing a degree of error in calculating the velocity.

5. The inertial device as claimed in claim 4, further comprising:

an input unit configured to input absolute positional data, which is received from a positional data transmitter, and error data of the absolute positional data into the estimation unit;

wherein the estimation unit updates the estimated position using the absolute positional data and the error data of the absolute positional data.

6. The inertial device as claimed in claim 5, further comprising:

a measurement unit configured to measure an interval to receive the absolute positional data; and

a correction unit configured to correct the error data of the absolute positional data according to the measured interval.

7. The inertial device as claimed in claim 5, wherein the input unit inputs other absolute positional data, which is received from other positional data transmitters employing communication methods different from each other, and error data of the other absolute positional data into the estimation unit.

8. The inertial device as claimed in claim 7,

wherein the input unit inputs the other absolute positional data received from one of the other positional data transmitters via communications conforming to the Indoor Messaging System (IMES) standard.

9. The inertial device as claimed in claim 1, further comprising:

a map matching unit configured to match the estimated position to a map defining permitted areas in which the target is permitted to enter and forbidden areas in which the target is not permitted to enter and to correct the position when the estimated position is in the forbidden areas, wherein the estimation unit updates the estimated position according to the corrected position.

10. A method comprising:

generating an output representing motion of a target holding an inertial device using an inertial sensor;

generating a waveform which represents variation of velocity of the inertial device in a predetermined period by using one of factors corresponding to the output, the factors being associated with different outputs to be generated by the inertial sensor;

combining the waveform with one or more previous waveforms which have been generated in the generating step of the waveform; and

estimating a position where the inertial device is currently located using a velocity obtained from the combined waveform.

11. A program for causing an inertial device to perform a method comprising:

generating an output representing motion of a target holding the inertial device using an inertial sensor;

generating a waveform which represents variation of velocity of the inertial device in a predetermined period by using one of factors corresponding to the output, the factors being associated with different outputs to be generated by the inertial sensor;

combining the waveform with one or more previous waveforms which have been generated in the generating step of the waveform; and

estimating a position where the inertial device is currently located using a velocity obtained from the combined waveform.