Position calculation method and position calculation apparatus

• US 8,593,341 B2
• Filed: 07/01/2010
• Issued: 11/26/2013
• Est. Priority Date: 07/02/2009
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Mizuochi, Shunichi, Uchida, Shuji, Onda, Kenji, Anand, Kumar, Sugimoto, Takuya, Sanjay, Rama
• Primary Examiner(s): GALT, CASSI J
• Application Number:
  US12/829,310
• Publication Number:
  US 20110001663A1
• Time in Patent Office: 1,244 Days
• Field of Search: 342/357.3, 342/357.32, 4554561-457, 701/472, 701500-512
• US Class Current: 342/357.3
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A position calculation method and apparatus are described. The position calculation apparatus may include an inertial measurement unit and be configured to be coupled with at least one sensor unit for detecting a physical event for use in position calculation. The presence of and type sensor unit may identified, and the position processing to be undertaken may depend on this identification.

Claims

1. A position calculation method executed by a position calculation apparatus, the method comprising:

determining whether a sensor unit for detecting a physical event for use in position calculation is mounted on the position calculation apparatus, wherein the sensor unit is one of plurality of types of sensor units;

identifying, when the determining step indicates the sensor unit is mounted on the position calculation apparatus, which of the plurality of types of sensor unit is mounted on the position calculation apparatus;

acquiring information from the sensor unit, the information representing a kind of data output from the sensor unit; and

calculating, when the determining step indicates the sensor unit is mounted on the position calculation apparatus, a position by a Kalman filter using an output of an inertial measurement unit integrated with the position calculation apparatus; and

correcting, when the determining step indicates the sensor unit is mounted on the position calculation apparatus, the Kalman filter by setting an output of the sensor unit as an observation value which corresponds to the kind of data.

2. The method according to claim 1, further comprising:

calculating, when the determining step indicates the sensor unit is not mounted on the position calculation apparatus, a position using an output of the inertial measurement unit integrated with the position calculation apparatus.

3. The method according to claim 1, further comprising:

receiving calibration standard type information representing the type of calibration standard information for calibration of the sensor unit;

calculating calibration standard information responsive to the calibration standard type information and the output of the inertial measurement unit; and

calibrating the sensor unit by using the calibration standard information.

4. The method according to claim 1, wherein the identifying the type of sensor unit comprises:

determining that the sensor unit is a satellite position calculation unit configured to calculate a position by using a satellite signal from a position calculation satellite;

and the method further comprises;

predicting an initialized position by using a value other than a position calculated by the satellite position calculation unit, and

correcting the initialized position based at least in part on a position calculated by the satellite position calculation unit.

5. The method according to claim 4, further comprising:

acquiring information representing a time interval at which the satellite position calculation unit calculates a position,

wherein the prediction comprises repeatedly predicting a position during the time interval, and the correction comprises correcting the predicted position at the time interval.

6. The method according to claim 1, wherein the identifying the type of sensor unit comprises:

determining that the sensor unit is a direction sensor unit for measuring a direction of the sensor unit.

7. The method according to claim 6, further comprising:

receiving the measured direction of the sensor unit; and

calculating an angular velocity using the received measured direction and a previously acquired direction.

8. The method according to claim 1, wherein the identifying the type of sensor unit comprises:

identifying two or more types of sensor units mounted on the position calculation apparatus.

9. The method according to claim 8, wherein the two or more types of sensor units include a first type comprising a satellite position calculation unit and a second type comprising a direction sensor unit.