Navigational system initialization system, process, and arrangement

• US 8,718,935 B2
• Filed: 10/22/2010
• Issued: 05/06/2014
• Est. Priority Date: 10/23/2009
• Status: Active Grant

• Current Assignee: Mine Safety Appliances Company (MSA Safety, Inc.)
• Original Assignee: MSA Technology, LLC (MSA Safety, Inc.)
• Inventors: Miller, Paul A., Trautzsch, Thomas
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): PAIGE, TYLER D
• Application Number:
  US12/909,982
• Publication Number:
  US 20110098921A1
• Time in Patent Office: 1,292 Days
• Field of Search: 701/207, 701/220, 701/500, 340/539.19, 340/995.19
• US Class Current: 701/469
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

An initialization system for a personal navigation system associated with a user, including: a first reference point arrangement configured for communication with the personal navigation system of the user and to facilitate the generation of a first user data set including horizontal position and azimuth angle (x₁, y₁, θ₁); a second reference point arrangement configured for communication with the personal navigation system of the user and to facilitate the generation of a second user data set including horizontal position and azimuth angle (x₂, y₂, θ₂); and at least one control device configured to determine a common coordinate system based at least in part upon the first user data set and the second user data set. An initialization process and arrangement are also disclosed.

Claims

1. An initialization system for a personal navigation system associated with a user, comprising:

at least one portable structure comprising;

(1) an arbitrary first reference point arrangement configured for communication with the personal navigation system of the user and to facilitate the generation of a first user data set including horizontal position and azimuth angle (x₁, y₁, θ

₁); and

(2) an arbitrary second reference point arrangement configured for communication with the personal navigation system of the user and to facilitate the generation of a second user data set including horizontal position and azimuth angle (x₂, y₂, θ

₂); and

at least one control device configured to determine a common coordinate system based at least in part upon the first user data set and the second user data set,

wherein the at least one portable structure is configured for placement on the ground and has an upper surface configured for contact with the user.

2. The initialization system of claim 1, wherein the at least one control device is further configured to determine at least one of the following:

at least one vector between the first reference point arrangement and the second reference point arrangement;

at least one angle between at least two vectors;

at least one position;

at least one azimuth;

at least one heading;

or any combination thereof.

3. The initialization system of claim 1, further comprising a plurality of users, each associated with a respective personal navigation system.

4. The initialization system of claim 1, wherein the first reference point arrangement and the second reference point arrangement are formed in spaced positions of the at least one portable structure.

5. The initialization system of claim 4, wherein the at least one portable structure is an elongated mat for placement on the ground and having an upper surface configured for contact with the user.

6. The initialization system of claim 1, wherein the first reference point arrangement comprises a first portable structure, and the second reference point arrangement comprises a second portable structure.

7. The initialization system of claim 6, wherein the first portable structure and the second portable structure are each in the form of a mat for placement on the ground and having an upper surface configured for contact with the user.

8. The initialization system of claim 1, further comprising at least one indicator on an upper surface of the at least one portable structure, wherein the indicator is at least one of the following:

a visual marking, an indentation, a boot-shaped visual marking, a boot-shaped indentation, or any combination thereof.

9. The initialization system of claim 1, wherein at least one of the first reference point arrangement and the second reference point arrangement comprise at least one of the following:

at least one radio frequency arrangement, at least one magnetic field arrangement, at least one pressure sensing arrangement, at least one acoustic arrangement, at least one electrical arrangement, or any combination thereof.

10. The initialization system of claim 1, wherein at least one of the first reference point arrangement and the second reference point arrangement comprise at least one magnet.

11. The initialization system of claim 1, wherein the at least one control device is further configured to:

determine the contact position by a user on the first and second reference point arrangements; and

determine the first and second user data sets, including horizontal position and azimuth, based at least in part upon the determined contact position.

12. The initialization system of claim 1, wherein at least one of the first reference point arrangement, the second reference point arrangement, and the at least one control device is configured to cause at least one indication action to occur that can be sensed by the user upon contact with the first reference point arrangement and the second reference point arrangement.

13. The initialization system of claim 1, wherein the indication action is at least one of the following:

audible, visual, tactile, olfactory, or any combination thereof.

14. The initialization system of claim 1, wherein the personal navigation system is an inertial sensor module located on the foot of the user, the inertial sensor module comprising a plurality of inertial sensors and a communication device.

15. The initialization system of claim 1, wherein the at least one control device is an onsite computer capable of communicating with at least one of the following:

the first reference point arrangement, the second reference point arrangement, the personal navigation system, or any combination thereof.

16. The initialization system of claim 1, further comprising a personal communication device located on the user and capable of communicating with at least one of the following:

the first reference point arrangement, the second reference point arrangement, the at least one control device, the personal navigation system, or any combination thereof.

17. An initialization system for a personal navigation system mounted on a boot of a user, comprising:

an arbitrary first reference point arrangement in the form of a first portable mat for placement on a surface and having an upper surface, wherein, upon contact by the boot of the user on the upper surface, the first reference point arrangement is configured to;

communicate with the personal navigation system of the user; and

facilitate the generation of a first user data set including horizontal position and azimuth angle (x₁, y₁, θ

₁);

an arbitrary second reference point arrangement in the form of a second portable mat for placement on a surface and having an upper surface, wherein, upon contact by the boot of the user on the upper surface, the second reference point arrangement is configured to;

communicate with the personal navigation system of the user; and

facilitate the generation of a second user data set including horizontal position and azimuth angle (x₂, y₂, θ

₂); and

at least one control device configured to determine a common coordinate system based at least in part upon the first user data set and the second user data set.

18. The initialization system of claim 17, wherein the at least one control device is further configured to determine at least one of the following:

at least one vector between the first reference point arrangement and the second reference point arrangement;

at least one angle between at least two vectors;

at least one position;

at least one azimuth;

at least one heading;

or any combination thereof.

19. An initialization process for a personal navigation system associated with a user, comprising:

positioning at least one portable structure on a ground surface, the at least one portable structure comprising an arbitrary first reference point arrangement and an arbitrary second reference point arrangement, wherein the at least one portable structure is configured for placement on the ground and has an upper surface configured for contact with the user;

upon contact by the user with the arbitrary first reference point arrangement, communicating with the personal navigation system of the user and generating a first user data set including horizontal position and azimuth angle (x₁, y₁, θ

₁);

upon contact by the user with the arbitrary second reference point arrangement, communicating with the personal navigation system of the user and generating a second user data set including horizontal position and azimuth angle (x₂, y₂, θ

₂); and

determining a common coordinate system based at least in part upon the first user data set and the second user data set.