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 this particle,c) the reception of measurements representative of the direction of displacement of the device and of the amplitude of this displacement from its previous position, these 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 this particle from its previous position Pk-1i to a new position Pki in a manner correlated with the measured displacement of the device, and thene) for each particle, if the latest displacement of this particle from the position Pk-1i to the position Pki 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 the 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 at least one zone with favored direction of displacement associated;
with coordinates defining the position on the map of its periphery, andwith a favored direction of displacement in this zone,step e) comprises for each particle;
an operation of detecting the presence of th particle inside the zone with favored direction of displacement by comparing the coordinates of this particle with the periphery of the zone with favored direction of displacement defined by the coordinates provided during step a), and then,if the particle is detected as being present inside the zone with favored direction of displacement, an operation of increasing the weight of this particle if the angular deviation between the direction of displacement of this particle from the position Pk-1i to the position Pki and the favored direction of displacement associated with the zone is equal to 0°
or to 180°
to within plus or minus σ
γ
, the increasing being carried out with respect to the weights of the other particles situated inside the same zone and for which the deviation is not equal to 0°
or to 180°
to within plus or minus σ
γ
, where σ
γ
is a predetermined angular tolerance, andif the particle is detected as being outside of the zone with favored direction of displacement, the prohibiting of the use of the favored direction of displacement associated with this zone to update the weight of the particle.
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Abstract
A method of location of a device includes the provision of a map containing at least one zone with favored direction of displacement associated with a favored direction of displacement. The method includes an operation of detecting the presence of a particle inside the zone. If the particle is detected as being present inside the zone, an operation of increasing a weight of the particle if the angular deviation between the direction of displacement of the particle from a position Pk-1i to a position Pki and the favored direction of displacement associated with this zone is equal to 0° or to 180° to within plus or minus σγ. If the particle is detected as being outside of this zone, the method includes prohibiting the use of this favored direction of displacement to update the weight of the particle.
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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 this particle, c) the reception of measurements representative of the direction of displacement of the device and of the amplitude of this displacement from its previous position, these 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 this particle from its previous position Pk-1i to a new position Pki in a manner correlated with the measured displacement of the device, and then e) for each particle, if the latest displacement of this particle from the position Pk-1i to the position Pki 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 the 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 at least one zone with favored direction of displacement associated; with coordinates defining the position on the map of its periphery, and with a favored direction of displacement in this zone, step e) comprises for each particle; an operation of detecting the presence of th particle inside the zone with favored direction of displacement by comparing the coordinates of this particle with the periphery of the zone with favored direction of displacement defined by the coordinates provided during step a), and then, if the particle is detected as being present inside the zone with favored direction of displacement, an operation of increasing the weight of this particle if the angular deviation between the direction of displacement of this particle from the position Pk-1i to the position Pki and the favored direction of displacement associated with the zone is equal to 0°
or to 180°
to within plus or minus σ
γ
, the increasing being carried out with respect to the weights of the other particles situated inside the same zone and for which the deviation is not equal to 0°
or to 180°
to within plus or minus σ
γ
, where σ
γ
is a predetermined angular tolerance, andif the particle is detected as being outside of the zone with favored direction of displacement, the prohibiting of the use of the favored direction of displacement associated with this zone to update the weight of the particle. - 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 Pk-1i to a new position Pki 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 Pk-1i to the position Pki 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 the estimation, more importance to the positions of the particles associated with the highest weights, wherein; the map recorded in the memory contains at least one zone with favored direction of displacement associated; with coordinates defining the position on the map of its periphery, and with a favored direction of displacement in the zone, the computer is programmed so as to, during step e) and for each particle; detect the presence of the particle inside the zone with favored direction of displacement by comparing the coordinates of the particle with the periphery of the zone with favored direction of displacement defined by the coordinates provided during step a), and then, if the particle is detected as being present inside the zone with favored direction of displacement, increase the weight of the particle if the angular deviation between the direction of displacement of the particle from the position Pk-1i to the position Pki and the favored direction of displacement associated with the zone is equal to 0°
or to 180°
to within plus or minus σ
γ
, the increasing being carried out with respect to the weights of the other particles situated inside the same zone and for which the deviation is not equal to 0°
or to 180°
to within plus or minus σ
γ
, where σ
γ
is a predetermined angular tolerance, andif the particle is detected as being outside of the zone with favored direction of displacement, prohibit the use of the favored direction of displacement associated with the zone to update the weight of the particle. - View Dependent Claims (11)
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Specification