Sports performance computer system and method

• US 6,032,108 A
• Filed: 07/08/1998
• Issued: 02/29/2000
• Est. Priority Date: 07/08/1998
• Status: Expired due to Fees

• Current Assignee: R. B. Seiple, Ronald Seiple
• Original Assignee: R. B. Seiple, Ronald Seiple
• Inventors: Seiple, Ronald, Seiple, R. B.
• Primary Examiner(s): Hoff, Marc S.
• Assistant Examiner(s): MILLER, CRAIG S
• Application Number:
  US09/111,844
• Time in Patent Office: 601 Days
• Field of Search: 701/119, 701/120, 701/121, 701/122, 701/216, 701/214, 701/213, 701/217, 702/142, 702/149, 702/150, 702/94, 702/95, 702/96, 702/97, 702/158
• US Class Current: 702/97
• CPC Class Codes: A63B 2024/0025 Tracking the path or location of one or more users, e.g. players of a game
• CPC Class Codes: A63B 2071/0663 worn on the wrist, e.g. wrist bands
• CPC Class Codes: A63B 2220/12 Absolute positions, e.g. by using GPS
• CPC Class Codes: A63B 2220/18 Inclination, slope or curvature
• CPC Class Codes: A63B 2220/20 Distances or displacements
• CPC Class Codes: A63B 2220/30 Speed
• CPC Class Codes: A63B 2230/04 heartbeat characteristics, e.g. ECG, blood pressure modulations
• CPC Class Codes: A63B 2230/30 blood pressure A63B2230/04 takes precedence
• CPC Class Codes: A63B 2230/50 temperature
• CPC Class Codes: A63B 24/00 Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
• CPC Class Codes: A63B 24/0021 Tracking a path or terminating locations
• CPC Class Codes: A63B 69/0028 for running, jogging or speed-walking movable endless bands A63B22/02
• CPC Class Codes: G01S 19/19 Sporting applications
• CPC Class Codes: G01S 19/35 Constructional details or hardware or software details of the signal processing chain
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: G01S 19/52 Determining velocity
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile

Abstract

A system, a signal bearing medium embodying a program of machine-readable instructions, and a method employing Global Positioning System (GPS) satellites to determine the current pace, the distance traveled and speed of a person, for example a runner, are disclosed. A GPS receiver for receiving signals from GPS satellites is attached to the person. A processor processes the signals received at a plurality of points from sub-sets of GPS satellites to determine the Earth Centered Earth Fixed (ECEF) fix in the x, y, and z planes relative to the center of the earth of each point. The processor detects when the signals are received from a different sub-set of satellites and corrects for the resulting fix error. The processor calculates the relative distance of the segment between the ECEF fixes of each pair of sequentially adjacent points, and adds together the distances of the segments to determine the distance of the path traveled by the person, which is defined by the points. Errors associated with determining position relative to navigational references such as latitude and longitude are not incurred because relative ECEF fixes are used to determine the distance rather than latitude and longitude fixes. Also, "Selective Availability" error, which is an error introduced into GPS signals by the U.S. military that limits the accuracy of GPS fixes relative to navigational references, does not degrade the accuracy of the distance calculations because the relative distance between the points is used to determine the distance traveled, rather than the distance of the points from navigational references. The processor calculates the elapsed time between selective points, and determines the average speed or pace of the person between selective points and current speed in minutes/mile. A storage device stores data structures representing the ECEF fixes of selective points, and data structures representing relative times that GPS signals are received at selective points. A signal-bearing medium tangibly embodying a program of for performing the above method that are executable by a digital processing device.

Claims

1. A system for determining kinematic measurements along a course traveled by a person, comprising:

means for attaching the system to the person, said system having means for receiving signals from a set of global positioning satellites which are subject to selective availability errors purposefully introduced into the signals, said signal receiving means being capable of receiving signals at each point of a plurality of points along the course from a sub-set of said global positioning satellites;

means for processing the signals received at each point to determine an earth-centered-earth-fixed (ECEF) fix of each point in x, y, and z planes relative to the earth'"'"'s center, wherein any selective availability errors in the ECEF fixes processed from signals received from the same sub-set of satellites at successive points along the course are effectively canceled out by calculation of relative kinematic measurements for the successive points;

means for determining when the signals received at a current one of the plurality of points is received from a different sub-set of satellites than the sub-set of satellites from which signals are received at an immediately preceding point, wherein a jump error may be introduced in the fix for the current point as compared to the fix for the preceding point when they are obtained from different sub-sets of satellites;

means for correcting the lump error in the ECEF fix at the current point at which the determining means determines that signals are first received from the different subset of satellites; and

means for calculating relative kinematic measurements for segments between the ECEF fixes of each pair of sequentially adjacent points with any jump error between fixes being corrected by said jump error correcting means.

2. The system of claim 1 wherein the means for calculating distance includes means for adding together each of the distance of the segments between the ECEF fixes of each pair of sequentially adjacent points to determine the total distance.

3. The system of claim 1 wherein the means for calculating distance of segments includes means for processing a satellite'"'"'s carrier Doppler frequency to determine changes in a Doppler velocity vector between the ECEF fix of each pair of sequentially adjacent points.

4. The system of claim 1 further comprising:

means for determining whether a common point between two successive segments of sequentially adjacent points lies within a given error on a line defined by the two points at opposite ends of the successive segments; and

means for storing data structures representing the ECEF fixes of the points along the course, excluding common points that are lying on a line between opposite end points of successive segments.

5. The system recited in claim 1 further comprising means for calculating elapsed time of the person between selective points at which the signals are received, and pace and speed of the person between selective points at which the signals are received.

6. The system recited in claim 1 further comprising means for calculating the instantaneous speed and pace of the person at selective points at which the signals are received.

7. The system recited in claim 1 further comprising storage means communicatively coupled to the means for processing the signals received at each point, the storage means comprising storage for data structures representing times that the signals are received at selective points relative to times that the signals are received at other selective points, the storage means further including storage for data structures representing the ECEF fixes of points that are not intermediate points along a line of segments of ECEF fixes.

8. The system claimed in claim 1 further comprising:

first means for calculating a distance between ECEF fixes of points for each segment of a pair of successive segments, and a sum of the distances of the pair of successive segments;

second means for calculating a relative distance between the ECEF fixes of the two points at the opposite ends of the pair of successive segments;

third means for subtracting the sum of the distances of the pair of successive segments from the relative distance between the two points at the opposite ends of the pair of successive segments; and

fourth means for comparing the subtraction results of said third means to a predetermined error to determine whether a common point between the pair of successive segments lies on a line defined by the two points at the opposite ends of the pair of successive segments, whereby the fix for said common point lying on the line between opposite end points of the successive segments may be excluded from data storage to save on data storage space.

10. The system recited in claim 1 further comprising means for determining changes in altitude.

11. The system recited in claim 1 further comprising means for determining shortest possible equal time intervals between times at which signals are received from the sub-sets of satellites for a given time period and battery capacity, to receive signals from the sub-sets of satellites at a maximum number of points.

12. The system recited in claim 1 wherein the means for calculating the distance of the segments between the ECEF fixes of each pair of sequentially adjacent points where the signals from the sub-sets of satellites are received comprises means for calculating the square root of the sum of the squares of the distances in the x, y, and z planes between the ECEF fixes of each pair of sequentially adjacent points.

13. The system recited in claim 1 further comprising means for outputting kinematic measurements and carried on a wrist band.

14. The system recited in claim 1 further comprising means for outputting kinematic measurements and carried on a head-piece.

15. The system recited in claim 1 further comprising means for determining wind-speed measurements.

16. The system recited in claim 1 further comprising means for transmitting output data via a radio-frequency link.

17. A system according to claim 1, wherein said jump error correction means operates by calculating a most recent velocity vector for the person from a preceding segment, estimating a next fix based upon said most recent velocity vector from the preceding segment, using the estimated next fix for a first point after signals are received from a different sub-set of satellites, and determining a subsequent segment measured between first and second fixes received from the different sub-set of satellites.

18. A system according to claim 1, wherein said jump error correction means operates by maintaining a lookup table of offset values for each possible combination of satellite subsets, and subtracting a corresponding offset value from the fix for a first point after signals are received from a different sub-set of satellites.

9. The system recited in clam 1 further comprising means for detecting the person'"'"'s directional changes of travel.

19. An apparatus for determining temporal distance measurements along a course traveled by a person, comprising:

a receiver configured for attachment to the person for receiving signals from a set of global positioning satellites which are subject to selective availability errors purposefully introduced into the signals, said receiver being capable of receiving signals at each point of a plurality of points along the course from a sub-set of said global positioning satellites; and

a processor communicatively coupled to the receiver, the processor being configured with means for;

processing the satellite signals received at a plurality of points from sub-sets of satellites to determine an earth-centered-earth-fixed (ECEF) fix in x, y, and z planes relative to earth'"'"'s center of each point where signals are received;

determining when the signals received at a point are received from a different sub-set of satellites than the sub-set of satellites from which signals were received at the immediately preceding point;

correcting for a jump error that may be introduced in the ECEF fix of each point at which the signals are first received from the different sub-set of satellites;

calculating a distance of each segment between ECEF fixes of each pair of sequentially adjacent points where the signals from the sub-sets of satellites are received, whereby selective availability errors in the signals are cancelled out by calculating the relative distance between ECEF fixes of sequentially adjacent points; and

adding together each of the distances of the segments to determine a total distance of a path defined by the points.

20. The apparatus recited in claim 19 wherein the processor is configured to calculate elapsed time between selective points at which signals are received, and the speed of the person between selective points at which satellite signals are received.

21. The apparatus recited in claim 19 wherein the processor is configured to calculate the instantaneous speed of the person at selective points at which signals are received.

22. The apparatus recited in claim 19 further comprising a storage communicatively coupled to the processor, the storage comprising storage for data structures representing the times that signals are received at selective points relative to the times that signals are received at other selective points, the storage further comprising storage for data structures representing the ECEF fixes of the points that are not intermediate points along a line.

23. The apparatus recited in claim 19 wherein the processor further comprises:

first means for calculating a sum of the distances of a pair of successive segments;

second means for calculating a relative distance between the ECEF fixes of the two points at the opposite ends of the pair of successive segments;

third means for subtracting the sum of the distances of the pair of successive segments from the relative distance between the two points at the opposite ends of the pair of successive segments; and

fourth means for comparing the subtraction result of said third means to a predetermined error to determine whether a common point between the pair of successive segments lies on a line defined by the two points at the opposite ends of the pair of successive segments, whereby the fix for said common point lying on the line between opposite end points of the successive segments may be excluded from data storage to save on data storage space.

24. The apparatus recited in claim 19 further comprising a magnetic field sensor communicatively coupled to the processor, and wherein the processor is configured to process data from the magnetic field sensor to detect when the direction of travel of the person has changed.

25. The apparatus recited in claim 19 further comprising an atmospheric pressure sensor communicatively coupled to the processor, and wherein the processor is configured to process data from atmospheric pressure sensor to calculate the person'"'"'s change in altitude.

26. The apparatus recited in claim 19 wherein the processor is configured to determine the shortest possible equal time intervals between the times at which signals are received from the sub-sets of satellites for a given running duration and a given amount of battery capacity, to receive signals from the sub-sets of satellites at a maximum number of points.

27. The apparatus recited in claim 19 wherein calculating the distance of the segments between the ECEF fixes of each pair of sequentially adjacent points where the signals from the sub-sets of satellites are received comprises calculating a square root of a sum of the squares of distances in x, y, and z planes between the ECEF fixes of each pair of sequentially adjacent points.

28. An apparatus according to claim 19, wherein said jump error correction means operates by calculating a most recent velocity vector for the person from a preceding segment, estimating a next fix based upon said most recent velocity vector from the preceding segment, using the estimated next fix for a first point after signals are received from a different sub-set of satellites, and determining a subsequent segment measured between first and second fixes received from the different sub-set of satellites.

29. An apparatus according to claim 19, wherein said jump error correction means operates by maintaining a lookup table of offset values for each possible combination of satellite sub-sets, and subtracting a corresponding offset value from the fix for a first point after signals are received from a different sub-set of satellites.

30. A signal bearing medium tangibly embodying a program of machine-readable instructions executable by a digital processing device to perform a method for determining kinematic measurements along a course traveled by a person, the method comprising:

processing satellite data signals received at a plurality of points from sub-sets of satellites to determine an earth-centered-earth-fixed (ECEF) fix in x, y, and z planes relative to earth'"'"'s center of each point where signals are received, wherein the satellite data signals received are subject to selective availability errors purposefully introduced into the signals;

determining when the signals received at a point are received from a different sub-set of satellites than the sub-set of satellites from which signals were received at the immediately preceding point;

correcting for a jump error that may be introduced in the ECEF fix of each point at which the signals are first received from the different sub-set of satellites;

calculating a distance of each segment between ECEF fixes of each pair of sequentially adjacent points where the signals from the sub-sets of satellites are received, whereby any selective availability errors in the signals are cancelled out by calculating the relative distance between ECEF fixes of sequentially adjacent points; and

adding together each of the distances of the segments to determine a total distance of a path defined by the points.

31. The method performed by the program embodied on the signal bearing medium of claim 30 further comprising storing data structures representing the ECEF fixes of the points that are not intermediate points along a line, and further comprising storing data structures representing times that the ECEF fixes of the points that are not intermediate points along a line are received.

32. The method performed by the program embodied on the signal bearing medium of claim 30 further comprising calculating an elapsed time between selective points at which the GPS signals are received and calculating a speed of the person between selective points at which the GPS signals are received.

33. The method recited in claim 30 further comprising:

calculating a distance between ECEF fixes of points for each segment of a pair of successive segments, and a sum of the distances of the pair of successive segments;

calculating a relative distance between the ECEF fixes of the two points at the opposite ends of the pair of successive segments;

subtracting the sum of the distances of the pair of successive segments from the relative distance between the two points at the opposite ends of the pair of successive segments; and

comparing the subtraction results of said third means to a predetermined error to determine whether a common point between the pair of successive segments lies on a line defined by the two points at the opposite ends of the pair of successive segments, whereby the fix for said common point lying on the line between opposite end points of the successive segments may be excluded from data storage to save on data storage space.

34. The method performed by the program embodied on the signal bearing medium of claim 30 wherein calculating the distance of the segments between the ECEF fixes of each pair of sequentially adjacent points comprises calculating the square root of the sum of the squares of the distances in the x, y, and z planes between the ECEF fixes of each pair of sequentially adjacent points.

35. A method for a signal bearing medium according to claim 30, wherein said jump error correcting step is obtained by calculating a most recent velocity vector for the person from a preceding segment, estimating a next fix based upon said most recent velocity vector from the preceding segment, using the estimated next fix for a first point after signals are received from a different sub-set of satellites, and determining a subsequent segment measured between first and second fixes received from the different sub-set of satellites.

36. A method for a signal bearing medium according to claim 30, wherein said jump error correcting step is obtained by maintaining a lookup table of offset values for each possible combination of satellite sub-sets, and subtracting a corresponding offset value from the fix for a first point after signals are received from a different sub-set of satellites.

37. A method for determining kinematic measurements along a course traveled by a person, comprising:

attaching a global positioning system (GPS) receiver to the person for receiving signals from GPS satellites, wherein the satellite signals received are subject to selective availability errors purposefully introduced into the signals;

receiving at each of a plurality of points alone the course signals from a sub-set of GPS satellites at the GPS receiver;

processing the signals received at each point to determine an earth-centered-earth-fixed (ECEF) fix of each point in x, y, and z planes relative to earth'"'"'s center;

determining when the signals received at a point are received from a different sub-set of satellites than a sub-set of satellites from which signals were received at the immediately preceding point;

correcting for a lump error that may be introduced in the ECEF fix of each point at which the signals are first received from the different sub-set of satellites;

calculating a distance of each segment between ECEF fixes of each pair of sequentially adjacent points, whereby any selective availability errors in the signals are cancelled out by calculating the relative distance between ECEF fixes of sequentially adjacent points; and

adding together the distances of the segments to determine a total distance of a path defined by the points.

38. The method recited in claim 37 further comprising calculating elapsed time between selective points at which the GPS signals are received, and further comprising calculating the speed of the person between selective points at which the GPS signals are received.

39. The method recited in claim 37 further comprising storing data structures representing times that the GPS signals are received at selective points relative to times that the GPS signals are received at other selective points, and further comprising storing data structures representing ECEF fixes of points that are not intermediate points along a line.

40. The method recited in claim 37 further comprising:

calculating a distance between ECEF fixes of points for each segment of a pair of successive segments, and a sum of the distances of the pair of successive segments;

calculating a relative distance between the ECEF fixes of the two points at the opposite ends of the pair of successive segments;

subtracting the sum of the distances of the pair of successive segments from the relative distance between the two points at the opposite ends of the pair of successive segments; and

comparing the subtraction result to a predetermined error to determine whether a common point between the pair of successive segments lies on a line defined by the two points at the opposite ends of the pair of successive segments, whereby the fix for said common point lying on the line between opposite end points of the successive segments may be excluded from data storage to save on data storage space.

41. The method recited in claim 37 wherein calculating the distance of the segments between the ECEF fixes of each pair of sequentially adjacent points where the signals from the sub-sets of GPS satellites are received comprises calculating a square root of the sum of the squares of the distances in the x, y, and z planes between the ECEF fixes of each pair of sequentially adjacent points.

42. The method recited in claim 37 wherein calculating the distance of the segments between the ECEF fixes of each pair of sequentially adjacent points wherein signals from a satellite'"'"'s carrier Doppler frequency are processed to determine changes in a Doppler velocity vector between the ECEF fix of each pair of sequentially adjacent points.

43. A method according to claim 37, wherein said jump error correcting step is obtained by calculating a most recent velocity vector for the person from a preceding segment, estimating a next fix based upon said most recent velocity vector from the preceding segment, using the estimated next fix for a first point after signals are received from a different sub-set of satellites, and determining a subsequent segment measured between first and second fixes received from the different sub-set of satellites.

44. A method according to claim 37, wherein said jump error correcting step is obtained by maintaining a lookup table of offset values for each possible combination of satellite sub-sets, and subtracting a corresponding offset value from the fix for a first point after signals are received from a different subset of satellites.