Method and Apparatus for Determination of Misalignment Between Device and Pedestrian
First Claim
1. A method for determining misalignment between a device and a pedestrian, wherein the device comprises a tri-axial accelerometer, the method comprising the steps of:
- a) calculating a plurality of levelled accelerometer readings from readings of the tri-axial accelerometer by transforming the tri-axial accelerometer readings into a levelled vertical accelerometer reading component and first and second horizontal acceleration components;
b) generating a vertical acceleration component from the levelled vertical accelerometer reading component;
c) calculating an along-track angled) determining a use case of the device;
e) detecting if a 180 degrees error in the along-track angle is present based on the use case; and
f) calculating a misalignment angle from the along-track angle and, if present, the 180 degrees error.
1 Assignment
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Accused Products
Abstract
The present disclosure relates to a method and apparatus for determining the misalignment between a device and a pedestrian, wherein the pedestrian can carry, hold, or use the device in different orientations in a constrained or unconstrained manner, and wherein the device comprises a sensor assembly. The sensors in the device may be for example, accelerometers, gyroscopes, magnetometers, barometer among others. The sensors have a corresponding frame for the sensors'"'"' axes. The misalignment between the device and the pedestrian means the misalignment between the frame of the sensor assembly in the device and the frame of the pedestrian. The present method and apparatus can work whether in the presence or in the absence of absolute navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).
39 Citations
11 Claims
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1. A method for determining misalignment between a device and a pedestrian, wherein the device comprises a tri-axial accelerometer, the method comprising the steps of:
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a) calculating a plurality of levelled accelerometer readings from readings of the tri-axial accelerometer by transforming the tri-axial accelerometer readings into a levelled vertical accelerometer reading component and first and second horizontal acceleration components; b) generating a vertical acceleration component from the levelled vertical accelerometer reading component; c) calculating an along-track angle d) determining a use case of the device; e) detecting if a 180 degrees error in the along-track angle is present based on the use case; and f) calculating a misalignment angle from the along-track angle and, if present, the 180 degrees error. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 11)
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10. A device portable by a pedestrian, the device comprising:
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a) a tri-axial accelerometer; and b) a processor, coupled to receive readings from the tri-axial accelerometer, and operative to determine the misalignment between the device and the pedestrian, wherein the processor is operative to; i) calculate a plurality of levelled accelerometer readings from readings of the tri-axial accelerometer by transforming the tri-axial accelerometer readings into a levelled vertical accelerometer reading component and first and second horizontal acceleration components; ii) generate a vertical acceleration component from the levelled vertical accelerometer reading component; iii) calculate an along-track angle, iv) determine a use case of the device; v) determine if a 180 degrees error in the along-track angle is present based on the use case; and vi) calculate a misalignment angle from the along-track angle and, if present, the 180 degrees error.
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Specification