METHOD FOR LOCATING A DEVICE WHICH IS MOVED IN A THREE-DIMENSIONAL SPACE
First Claim
1. A method of location of a device which is displaced inside a three-dimensional space, the method comprising:
- a) the provision of a map of the three-dimensional space and of predefined constraints on the displacements of the device in the three-dimensional space,b) the generation, by an electronic computer, of several distinct particles, each particle being associated;
with coordinates coding its position on the map, andwith a weight representing the probability that the device is situated at the site of the particle,c) the reception of measurements representative of the direction of displacement of the device and of the amplitude of the displacement from its previous position, the measurements being carried out by sensors onboard the displaced device,d) the updating of the coordinates of the position of each particle as a function of the measurements received during step c) and of a predetermined displacement law for displacing the particle from its previous position Pik-1 to a new position Pik in a manner correlated with the measured displacement of the device, and thene) for each particle, if the latest displacement of the particle from the position Pik-1 to the position Pik satisfies the predefined constraints, the increasing of the weight associated with this particle with respect to the weights of the particles whose latest displacement infringes these predefined constraints,the repetition of steps c) to e), andf) the estimation of the position of the device on the basis of the positions of the particles and of the weights associated with these particles by allotting, during the estimation, more importance to the positions of the particles associated with the highest weights, wherein;
during step a), the map provided contains several distinct zones, each distinct zone being associated;
with coordinates defining the position on the map of its periphery, andwith a displacement law from among a set of several different displacement laws, the displacement law associated with a zone making it possible to estimate more precisely, on the basis of the same measurements received, the direction and the amplitude of the displacement of the device when the latter is situated inside the zone than if any one of the other displacement laws of the set were used, for this purpose the different displacement laws are distinguished from one another by the mathematical operations which link the coordinates of a particle to the measurements received during step c), andstep d) systematically comprises for each particle;
an operation of identifying the zone inside which the particle is situated by comparing the coordinates of the particle with the peripheries of the zones of the map that are defined by the coordinates provided during step a), and then,an operation of using for the updating of the coordinates of this particle just the displacement law associated with the zone identified during the identification operation.
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Accused Products
Abstract
A method of location of a device comprises providing a map containing several distinct zones, each distinct zone being associated with a displacement law from among a set of several different displacement laws. The displacement law associated with a zone making it possible to estimate more precisely, on the basis of the same measurements received, the direction and the amplitude of the displacement of the device when the latter is situated inside the zone than if any one of the other displacement laws of the set were used. The method also includes an operation of identifying the zone inside which a particle is situated, and then, an operation of using, for the updating of the coordinates of the particle, of just the displacement law associated with the zone identified during the identification operation.
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Citations
11 Claims
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1. A method of location of a device which is displaced inside a three-dimensional space, the method comprising:
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a) the provision of a map of the three-dimensional space and of predefined constraints on the displacements of the device in the three-dimensional space, b) the generation, by an electronic computer, of several distinct particles, each particle being associated; with coordinates coding its position on the map, and with a weight representing the probability that the device is situated at the site of the particle, c) the reception of measurements representative of the direction of displacement of the device and of the amplitude of the displacement from its previous position, the measurements being carried out by sensors onboard the displaced device, d) the updating of the coordinates of the position of each particle as a function of the measurements received during step c) and of a predetermined displacement law for displacing the particle from its previous position Pik-1 to a new position Pik in a manner correlated with the measured displacement of the device, and then e) for each particle, if the latest displacement of the particle from the position Pik-1 to the position Pik satisfies the predefined constraints, the increasing of the weight associated with this particle with respect to the weights of the particles whose latest displacement infringes these predefined constraints, the repetition of steps c) to e), and f) the estimation of the position of the device on the basis of the positions of the particles and of the weights associated with these particles by allotting, during the estimation, more importance to the positions of the particles associated with the highest weights, wherein; during step a), the map provided contains several distinct zones, each distinct zone being associated; with coordinates defining the position on the map of its periphery, and with a displacement law from among a set of several different displacement laws, the displacement law associated with a zone making it possible to estimate more precisely, on the basis of the same measurements received, the direction and the amplitude of the displacement of the device when the latter is situated inside the zone than if any one of the other displacement laws of the set were used, for this purpose the different displacement laws are distinguished from one another by the mathematical operations which link the coordinates of a particle to the measurements received during step c), and step d) systematically comprises for each particle; an operation of identifying the zone inside which the particle is situated by comparing the coordinates of the particle with the peripheries of the zones of the map that are defined by the coordinates provided during step a), and then, an operation of using for the updating of the coordinates of this particle just the displacement law associated with the zone identified during the identification operation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An electronic unit for locating a device displaceable inside a three-dimensional space, the electronic unit comprising:
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a memory containing a map of the three-dimensional space and predefined constraints on the displacements of the device in the three-dimensional space, an electronic computer programmed for; b) generating several distinct particles, each particle being associated; with coordinates coding its position on the map, and with a weight representing the probability that the device is situated at the site of the particle, c) receiving measurements representative of the direction of displacement of the device and of the amplitude of the displacement from its previous position, the measurements being carried out by sensors onboard the displaced device, d) updating the coordinates of the position of each particle as a function of the measurements received and of a predetermined displacement law for displacing the particle from its previous position Pik-1 to a new position Pik in a manner correlated with the measured displacement of the device, e) for each particle, if the latest displacement of the particle from the position Pik-1 to the position Pik satisfies the predefined constraints, increasing the weight associated with the particle with respect to the weights of the particles whose latest displacement infringes these predefined constraints, repeating steps c) to e), and f) estimating the position of the device on the basis of the positions of the particles and of the weights associated with the particles by allotting, during th estimation, more importance to the positions of the particles associated with the highest weights, wherein; the map recorded in the memory contains several distinct zones, each distinct zone being associated; with coordinates defining the position on the map of its periphery, and a displacement law from among a set of several different displacement laws, the displacement law associated with a zone making it possible to estimate more precisely, on the basis of the same measurements received, the direction and the amplitude of the displacement of the device when the latter is situated inside the zone than if any one of the other displacement laws of the set were used, for the purpose the different displacement laws are distinguished from one another by the mathematical operations which link the coordinates of a particle to the measurements received during step c), and the computer is also programmed so as to, during step d) and systematically for each particle; identify the zone inside which the particle is situated by comparing the coordinates of th particle with the peripheries of the zones of the map, and then use, for the updating of the coordinates of the particle, just the displacement law associated with the zone identified. - View Dependent Claims (11)
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Specification