Pedestrian navigation apparatus and method

• US 7,747,409 B2
• Filed: 03/11/2005
• Issued: 06/29/2010
• Est. Priority Date: 03/12/2004
• Status: Active Grant

• Current Assignee: ‎Vectronix AG
• Original Assignee: ‎Vectronix AG
• Inventors: Ladetto, Quentin, Verhaert, Koen
• Primary Examiner(s): Raymond; Edward
• Application Number:
  US10/592,080
• Publication Number:
  US 20070260418A1
• Time in Patent Office: 1,936 Days
• Field of Search: 702/150, 702/142, 702/143, 702/151, 702/160, 702/188, 342104-107, 342/109, 342/113, 34235706-35709, 34235712-35714
• US Class Current: 702/150
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 22/006 Pedometers
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00

Abstract

The motion of a pedestrian is evaluated by determining at least one position of at least one identified portion of the pedestrian, projecting the positions(s) on at least one plane, and deriving the motion from the position(s) projected on the at least one plane. Typically the position(s) are determined in three-dimensions, e.g. of the feet. It is possible to project on two different planes to provide three-dimensional navigation information.

Claims

1. Method of determining motion of a pedestrian, comprising:

determining at least one position of at least each foot or lower leg portion of each leg of the pedestrian,

projecting said positions on at least one plane, whereby the projected positions express a distance between said feet or lower legportions along said at least one plane,

detecting a situation in which said pedestrian has completed a step, and

deriving the motion from the positions projected on said at least one plane for a situation where said pedestrian has completed the step, thereby obtaining a step length, or extent of displacement, along said at least one plane.

2. Method according to claim 1, wherein said at least one position is determined as a three-dimensional position of each said foot or lower leg portion of the pedestrian.

3. Method according to claim 1, wherein said determining comprises producing a vector in three-dimensional space of a line between respective feet or lower leg portions of said pedestrian, and wherein said projecting comprises projecting said three-dimensional vector as a two-dimensional vector onto said at least one plane.

4. Method according to claim 1, wherein said projecting comprises projecting a three-dimensional vector on at least one plane using goniometric mathematics, to produce a two-dimensional projection vector onto said at least one plane.

5. Method according to claim 1, wherein said projecting comprises producing a two-dimensional vector on said plane, and further comprises projecting said two-dimensional vector to one dimension along a line corresponding to a determined direction.

6. Method according to claim 5, wherein said line corresponds to a line of current azimuth of said pedestrian, or direction of general displacement of said pedestrian, or of averaged step direction.

7. Method according to claim 1, wherein said determining comprises determining the position of each foot of said pedestrian.

8. Method according to claim 1, wherein at least one said plane is a plane containing at least one axis corresponding to an axis of a reference coordinate system on which said motion is to be expressed, or is a plane having a component along said axis of a reference coordinate system on which said motion is to be expressed.

9. Method according to claim 1, wherein said at least one plane comprises a ground, or horizontal, plane containing North-South and West-East axes.

10. Method according to claim 1, wherein at least one said plane is a vertical plane, or a plane having a vertical component.

11. Method according to claim 1, wherein said motion to be determined is a displacement of said pedestrian in three dimensions, and wherein said projecting comprises projecting said positions on at least a first plane on which first and second dimensions of said three dimensions can be expressed, corresponding to North-South and West-East directions, and on a second plane on which the third of said three dimensions can be expressed, corresponding to a vertical direction.

12. Method according to claim 1, wherein said derived motion is at least one of:

i) a step direction, ii) a distance traveled by said pedestrian along the step direction, iii) a displacement in a two dimensional reference system, or iv) a displacement in a three dimensional reference system.

13. Method according to claim 1, further comprising:

determining a direction line of azimuth of said pedestrian, or line of average direction of steps made by the pedestrian,

deriving, from said determining and projecting individual step vectors, and

projecting said individual step vectors on said determined direction.

14. Method according to claim 1, wherein said at least one position of at least each foot or lower leg portion of the pedestrian is determined by a sensor worn by said pedestrian and adapted to deliver data in respect of at least one of:

quaternion calculation,

calculation of limb orientation;

calculation of joint position;

step detection;

step orientation calculation;

step length calculation;

pattern recognition.

15. Method according to claim 1, wherein data for said determining is acquired by a sensor worn by said pedestrian on:

upper leg portions of each leg, and

lower leg portions of each leg.

16. Method according to claim 15, wherein said determining step comprises determining relative positions of identified upper and lower leg positions for each leg of said pedestrian.

17. Method according to claim 1, wherein said determining comprises determining a distance between two lower leg portions and/or two feet of said pedestrian.

18. Method according to claim 1, wherein said determining further comprises determining an identified position at a lower back, waist or trunk portion of said pedestrian.

19. The method according to claim 1, further comprising establishing a situation in which said pedestrian has completed a step movement on the basis of at least one criterion among:

a measurement of a three-dimensional position of each foot of said pedestrian,

a measurement of distance between feet of said pedestrian,

detection of a situation in which at least one foot of said pedestrian is in a state of no acceleration,

shock measurements,

and of carrying out said projecting and/or said deriving as a function of establishing a completed step movement.

20. The method according to claim 1, further comprising establishing a situation in which said pedestrian has completed a step on the basis of a separation between two feet of said pedestrian, by:

determining a substantially vertical component of said separation, and

the occurrence or crossing of a substantially zero value of said substantially vertical component.

21. Method according to claim 1, further comprising establishing a situation in which said pedestrian has completed a step movement on the basis of a point of maximum horizontal distance between feet of said pedestrian, by:

obtaining a distance measurement between two feet, and

identifying a completed step movement as the occurrence of a maximum value in said distance measurement,

and of carrying out said projecting and/or said deriving as a function of establishing a completed step movement.

22. The method according to claim 1, further comprising implementing an autonomous human motion pattern recognition algorithm, with a database of minimum and maximum values for at least one parameter used in said pattern and/or a model used in conjunction with said pattern.

23. Method according to claim 1, comprising implementing a minimal trimmed three-dimensional ergonomic model containing at least one critical parameter based on three-dimensional joint positions and limb orientation.

24. Method according to claim 1, comprising applying weighting coefficients to identified parameters for each of several human motion patterns based on at least one dynamic characteristic and/or at least one boundary condition of the human motion patterns, whereby a score for each pattern is calculated for each step made by said pedestrian based on the weighted parameters, the highest score being the pattern selected by a pattern recognition algorithm.

25. Method according to claim 1, further comprising a calibration phase for a sensor or sensor signal processor carried by said pedestrian, including providing positional references by:

having the pedestrian oriented at a determined azimuth, and

having the pedestrian standing still in that orientation for a determined period of time.

26. Method according to claim 1, further comprising equipping said pedestrian with a set of sensors at selected body portions, each sensor being capable of delivering a respective quaternion, said method further comprising:

converting said quaternions into a rotation matrix,

calculating a sensor alignment matrix, and

deriving at least one of;

pattern recognition,

a step distance, and

orientation,

on the basis of said rotation matrix and/or said sensor alignment matrix.

27. Method according to claim 1, comprising deriving real navigation azimuth of said pedestrian, comprising:

placing a first sensor on the pedestrian, to derive an absolute orientation azimuth of said pedestrian,

placing a plurality of second sensors on selected body portions to determine relative azimuth of said body portions, and

combining the data from said first and second sensors to produce a real navigation azimuth.

28. Method according to claim 27, wherein data from said second sensors is used to determine a step direction of said pedestrian, said combining step comprising adding the determined step direction to the orientation azimuth to obtain a real navigation azimuth along the step direction.

29. Method according to claim 1, wherein said derived motion comprises pedestrian navigation information based step length data, said method further comprising:

operating an autonomous pedestrian navigation apparatus operating by dead reckoning, said autonomous pedestrian navigation apparatus being worn by said pedestrian and capable of delivering displacement information, including distance traveled and/or trajectory,

using one or more sensors worn by said pedestrian to determine from body positions a detected step length data,

providing said step length data as input to said autonomous pedestrian navigation, and

optimizing the accuracy of the displacement information of said autonomous pedestrian navigation apparatus on the basis of said inputted detected step length.

30. Method according to claim 29, further comprising:

deriving from said one or more sensors relative azimuth data relative to a determined orientation of said pedestrian, and

providing said relative azimuth data as data input to said autonomous pedestrian navigation apparatus.

31. Method according to claim 29, wherein said autonomous pedestrian navigation apparatus is provided with internal means for determining step length on the basis of step model data and algorithms,

and wherein said step length data from said one or more sensors is used by said autonomous pedestrian navigation apparatus instead of relying on said internal means for determining step length.

32. A computer readable medium containing a program executable by processor means to perform the method according to claim 1.

33. Method of determining the motion of a pedestrian, comprising:

detecting a situation where said pedestrian has completed a step,

determining a relative separation between each foot or lower leg portion of the pedestrian, and

deriving from said relative separation a projection on at least one plane over which said pedestrian evolves or over a plane having a component along a direction over which said pedestrian evolves, the projection expressing a distance between said feet or lower leg portions of said pedestrian when the pedestrian has completed the step to obtain a step length along the at least one plane.

34. Apparatus for determining motion of a pedestrian, comprising:

means for determining at least one position of at least each foot or lower leg portion of each leg of the pedestrian,

means for projecting said positions on at least one plane whereby the projected positions express a distance between said feet or lower leg portions along said at least one plane,

means for detecting a situation in which said pedestrian has completed a step, and

means for deriving the motion from the positions projected on said at least one plane for a situation where said pedestrian has completed the step, thereby obtaining a step length, or extent of displacement, along said at least one plane.

35. Apparatus according to claim 34, adapted for deriving real navigation azimuth of said pedestrian, comprising:

first sensor means adapted to be worn above legs of the pedestrian, to derive an absolute orientation azimuth of said pedestrian,

a plurality of second sensor means on selected body portions to determine relative azimuth of said body portions, and

means for combining the data from said first and second sensor means to produce a real navigation azimuth.

36. Apparatus according to claim 35, further comprising:

means responsive to data from said second sensor means to determine a step direction of said pedestrian,

wherein said combining means comprises means for adding the determined step direction to the orientation azimuth to obtain a real navigation azimuth along the step direction.

37. Apparatus according to claim 34, wherein said determined motion comprises pedestrian navigation information based step length data, said apparatus further comprising:

an autonomous pedestrian navigation apparatus operating by dead reckoning, said autonomous pedestrian navigation apparatus being adapted to be worn by said pedestrian and being capable of delivering displacement information, including distance traveled and/or trajectory,

sensor means adapted to be worn by said pedestrian to determine from body positions a detected step length data,

means for inputting said step length data as input to said autonomous pedestrian navigation, and

means for optimizing the accuracy of the displacement information of said autonomous pedestrian navigation apparatus on the basis of said inputted detected step length.

38. Apparatus according to claim 37, further comprising:

means for deriving from said sensor means relative azimuth data relative to a determined orientation of said pedestrian, and

means for inputting said relative azimuth data to said autonomous pedestrian navigation apparatus.

39. Apparatus for determining the motion of a pedestrian, comprising:

means for detecting a situation where said pedestrian has completed a step,

means for determining a relative separation between each foot or lower leg portion of each leg of the pedestrian, and

means for deriving from said relative separation a projection on at least one plane over which said pedestrian evolves or having a component along a direction over which said pedestrian evolves, the projection expressing a distance between said feet or lower leg portions when said pedestrian has completed the step to obtain a step length along the at least one plane.