Method and Apparatus for Improved Navigation for Cycling

• US 20150345952A1
• Filed: 01/23/2014
• Published: 12/03/2015
• Est. Priority Date: 01/23/2013
• Status: Active Grant

• Current Assignee: Trusted Positioning Inc. (TDK Corporation)
• Original Assignee: Trusted Positioning Inc. (TDK Corporation)
• Inventors: Georgy, Jacques, El-Sheimy, Naser, Chang, Hsiu-Wen
• Granted Patent: US 9,915,534 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 22/002 for cycles

Abstract

A method and apparatus for providing an enhanced navigation solution for cycling applications is described herein. The navigation solution is about a device within a platform, which is a cycling platform such as for example a bicycle, a tricycle, or a unicycle amongst others. The device can be in any orientation with respect to the platform (such as for example in any location or orientation on the body of the cyclist). The device includes a sensor assembly. The sensors in the device may be for example, accelerometers, gyroscopes, magnetometers, barometer among others. The present method and apparatus can work whether in the presence or in the absence of navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).

Claims

1. A method for providing an enhanced navigation solution related to at least one device and a cycling platform that moves through pedal cycles, wherein the at least one device is positionable in any orientation with respect to the platform, and the device is locatable at any location on the cycling platform or on a body of a cyclist of the cycling platform, and wherein the at least one device comprises sensors capable of providing sensor readings, the method comprising detecting the pedaling cycles using the sensor readings.

2. The method of claim 1, further comprising

obtaining models for speed of the platform, traversed distance of the platform, or both the speed of the platform and the traversed distance of the platform and

applying the obtained models together with a platform heading to obtain a cycling dead reckoning solution comprising position of the platform, velocity of the platform, or both position and velocity of the platform.

3. The method of claim 1, further comprising

determining a heading misalignment between the at least one device and the cycling platform.

4. The method of claim 1, further comprising:

a) determining a heading misalignment between the at least one device and the platform;

b) obtaining models for speed of the platform, the traversed distance of the platform, or both the speed of the platform and the traversed distance of the platform;

c) using the heading misalignment together with the at least one device heading to calculate a platform heading; and

d) applying the obtained models together with the platform heading to obtain a cycling dead reckoning solution comprising position of the platform, velocity of the platform, or both position and velocity of the platform.

5. The method of any one of claim 3 or 4, wherein the method further comprises using the heading misalignment to enhance the navigation solution by applying motion constraints on the solution.

6. The method of any one of claim 1, 2, 3, 4, or 5, wherein the method further comprises determining a pitch misalignment between the at least one device and the platform.

7. The method of any one of claim 1, 2, 3, 4, 5, or 6, wherein the method further comprises determining a roll misalignment between the at least one device and the platform.

8. The method of claim 3 or 4, wherein the method further comprises determining a pitch misalignment between the at least one device and the platform, determining a roll misalignment between the at least one device and the platform, and using the heading misalignment, the pitch misalignment, and the roll misalignment to enhance the navigation solution by applying motion constraints on the solution.

9. The method of claim 2, wherein the method further comprises determining a heading misalignment between the at least one device and the platform, determining a pitch misalignment between the at least one device and the platform, determining a roll misalignment between the at least one device and the platform, and using the heading misalignment, the pitch misalignment, and the roll misalignment to enhance the navigation solution by applying motion constraints on the solution.

10. The method of claim 2, wherein the method further comprises determining a heading misalignment between the at least one device and the platform, determining a pitch misalignment between the at least one device and the platform, determining a roll misalignment between the at least one device and the platform, and using the heading misalignment, the pitch misalignment, and the roll misalignment to enhance the navigation solution by applying velocity updates from the speed obtained from cycling dead reckoning.

11. The method of claim 4, wherein the method further comprises determining a pitch misalignment between the at least one device and the platform, determining a roll misalignment between the at least one device and the platform, and using the heading misalignment, the pitch misalignment, and the roll misalignment to enhance the navigation solution by applying velocity update derived from the speed obtained from cycling dead reckoning.

12. The method of any one of claim 2, 4, 10, or 11, wherein the method further comprises using the position from cycling dead reckoning to enhance the navigation solution by applying said position from cycling dead reckoning as position update.

13. The method of any one of claim 2, 4, 10, or 11, wherein the method further comprises using the position from cycling dead reckoning as the position output of the navigation solution.

14. The method of any one of claim 2, 4, 10, 11, 12, or 13, wherein the cycling dead reckoning works with platforms with multiple gear pedaling system.

15. The method of any one of claim 2, 4, 10, 11, 12, or 13, wherein the cycling dead reckoning works with platforms with single gear pedaling system.

16. The method of any one of claim 2, 4, 10, 11, 12, or 13, wherein the cycling dead reckoning works with platforms with pedaling system without gears.

17. A system for or providing an enhanced navigation solution for a cycling platform, comprising at least one device within the cycling platform, the cycling platform moveable through pedal cycles, wherein the device is positionable in any orientation with respect to the platform, wherein the device is locatable at any location on a body of a cyclist of the cycling platform, the device comprising:

a) an assembly of sensors capable of providing sensor readings

b) a receiver for receiving absolute navigational information about the device from an external source, and producing an absolute navigational information output; and

c) a processor, coupled to receive the sensor readings and the absolute navigational information output, and operative to detect the pedaling cycles.

18. The system of claim 17, wherein the processor is further

obtain models for speed of the platform, the traversed distance of the platform, or both the speed of the platform and the traversed distance of the platform and

apply the obtained models together with a platform heading to obtain a cycling dead reckoning solution comprising position of the platform, velocity of the platform, or both position and velocity of the platform.

19. The system of claim 17, wherein the processor is further operative to determine a heading misalignment between the at least one device and the platform.

20. The system of claim 17, wherein the processor is further operative to:

a) determine a heading misalignment between the at least one device and the platform;

b) obtain models for speed of the platform, the traversed distance of the platform, or both the speed of the platform and the traversed distance of the platform;

c) use the heading misalignment together with the at least one device heading to calculate a platform heading; and

d) apply the obtained models together with the platform heading to obtain a cycling dead reckoning solution comprising position of the platform, velocity of the platform, or both position and velocity of the platform.