Methods and apparatus for low-cost inertial dead-reckoning using context detection

• US 9,052,203 B2
• Filed: 03/15/2013
• Issued: 06/09/2015
• Est. Priority Date: 03/17/2012
• Status: Active Grant

• Current Assignee: Design Reactor, Inc.
• Original Assignee: mCube, Inc.
• Inventors: Kelly, Joseph M.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US13/837,411
• Publication Number:
  US 20130297203A1
• Time in Patent Office: 816 Days
• Field of Search: 701/454, 701/500, 701/461, 701/525, 342/326, 342/329, 342/417, 342/418, 342/442
• US Class Current: 1/1
• CPC Class Codes: G01C 21/08 involving use of the magnetic field of the earth
• CPC Class Codes: G01C 21/18 Stabilised platforms, e.g. by gyroscope
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation

Abstract

A method for determining a user bearing, implemented on a portable device programmed to perform the method includes determining with a physical sensor of the portable device, a first geometric orientation of the portable device with respect to gravity at a first time, determining with a magnetic sensor of the portable device, a first sensed magnetic field of the portable device in response to an external magnetic field at the first time, determining with the magnetic sensor of the portable device, a second sensed magnetic field of the portable device in response to the external magnetic field at the second time, and determining with the portable device a bearing of the portable device at the second time in response to the first geometric orientation, the first sensed magnetic field, and the second sensed magnetic field.

Claims

1. A method for determining a user bearing, implemented on a portable device programmed to perform the method comprising:

determining, with a physical sensor of the portable device, a first geometric orientation of the portable device with respect to gravity at a first time;

determining, with a magnetic sensor of the portable device, a first sensed magnetic field of the portable device in response to an external magnetic field at the first time;

determining, with the magnetic sensor of the portable device, a second sensed magnetic field of the portable device in response to the external magnetic field at a second time; and

determining, with the portable device, a first change in bearing of the portable device at the second time in response to the first geometric orientation, the first sensed magnetic field, and the second sensed magnetic field;

wherein determining with the portable device the first change in bearing comprises determining a change in angle about an external vertical axis between a horizontal component of the first sensed magnetic field with respect to an internal horizontal axis and a horizontal component of the second sensed magnetic field with respect to the internal horizontal axis;

wherein the horizontal component of the first sense magnetic field being determined from a first measured horizontal component, a local gravity vector, and a direction cosine matrix; and

wherein the horizontal component of the second sensed magnetic field being determined from a second measured horizontal component, the local gravity vector, and the direction cosine matrix.

2. The method of claim 1 further comprising:

determining, with the physical sensor of the portable device, a second geometric orientation of the portable device with respect to gravity at a third time;

determining whether the second geometric orientation exceeds a difference threshold with respect to the first geometric orientation;

if the second geometric orientation exceeds the difference threshold, the method includes;

determining, with the physical sensor of the portable device, a third geometric orientation of the portable device with respect to gravity at a fourth time;

determining, with the magnetic sensor of the portable device, a third sensed magnetic field of the portable device in response to an external magnetic field at a fourth time

determining, with the magnetic sensor of the portable device, a fourth sensed magnetic field of the portable device in response to the external magnetic field at a fifth time; and

determining, with the portable device, a second change in bearing of the portable device in response to the third geometric orientation, the third sensed magnetic field, and the fourth sensed magnetic field.

3. The method of claim 2 wherein the third time is substantially the same as the fourth time.

4. The method of claim 1 wherein the physical sensor is selected from a group consisting of:

an accelerometer, a gyroscope, a three-axis accelerometer, a three-axis gyroscope.

5. The method of claim 1 wherein the magnetic sensor comprises a three-axis magnetic sensor.

6. The method of claim 1 wherein determining the change in bearing comprises determining an inverse tangent function using a heading change sine function and a heading change cosine function, the both of these functions using the first and second measured horizontal components.

7. The method of claim 1 further comprising:

determining, with the physical sensor of the portable device, a plurality of physical perturbations between the first time and the second time;

determining, with the portable device, an estimate of a distance of the portable device between the first time and the second time.

8. The method of claim 1 further comprising:

determining, with the portable device, an estimate of a position of the portable device at the second time, in response to the change in bearing and to the distance.

9. A portable device for determining a user bearing comprising:

a physical sensor configured to determine a first geometric orientation of the portable device with respect to gravity at a first time;

a magnetic sensor configured to determine a first sensed magnetic field of the portable device in response to an external magnetic field at the first time, wherein the magnetic sensor is configured to determine a second sensed magnetic field of the portable device in response to the external magnetic field at the second time, wherein the first time and the second time are different; and

a processor coupled to the physical sensor and the magnetic sensor, wherein the processor is programmed to determine a first change in bearing of the portable device at the second time in response to the first geometric orientation, the first sensed magnetic field, and the second sensed magnetic field;

wherein the processor is programmed to determine a change in angle about an external vertical axis between a horizontal component of the first sensed magnetic field with respect to an internal horizontal axis and a horizontal component of the second sensed magnetic field with respect to the internal horizontal axis;

wherein the processor is programmed to determine the horizontal component of the first sense magnetic field from a first measured horizontal component, a local gravity vector, and a direction cosine matrix; and

wherein processor is programmed to determine the horizontal component of the second sensed magnetic field from a second measured horizontal component, the local gravity vector, and the direction cosine matrix.

10. The device of claim 9

wherein the physical sensor is configured to determine a second geometric orientation of the portable device with respect to gravity at a third time;

wherein the physical sensor is configured to determine a third geometric orientation of the portable device with respect to gravity at a fourth time;

wherein the magnetic sensor is configured to determine a third sensed magnetic field of the portable device in response to an external magnetic field at the fourth time;

wherein the magnetic sensor is configured to determine a fourth sensed magnetic field of the portable device in response to the external magnetic field at the fifth time; and

wherein the processor is programmed to determine whether the second geometric orientation exceeds a difference threshold with respect to the first geometric orientation, wherein when the second geometric orientation is determined to exceed the difference threshold, the processor is programmed to determine a second change in bearing of the portable device in response to the third geometric orientation, the third sensed magnetic field, and the fourth sensed magnetic field.

11. The device of claim 10 wherein the third time and the fourth time are substantially coincident.

12. The device of claim 9 wherein the physical sensor is selected from a group consisting of:

an accelerometer, a gyroscope, a three-axis accelerometer, a three-axis gyroscope.

13. The device of claim 9 wherein the magnetic sensor comprises a three-axis magnetic sensor.

14. The device of claim 9 wherein the processor is programmed to determine the change in bearing via determining an inverse tangent function using a heading change sine function and a heading change cosine function, the both of these functions using the first and second measured horizontal components.

15. The device of claim 14 wherein the processor is programmed to determine as estimate of a position of the portable device at the second time, in response to the change in bearing and to the distance.

16. The device of claim 9

wherein the physical sensor determines a plurality of physical perturbations between the first time and the second time;

and

wherein the processor is programmed to determine an estimate of a distance of the portable device between the first time and the second time.

17. The device of claim 9 further comprising a memory configured to store a representation of a map.

18. The device of claim 17

wherein the processor is programmed to determine a display representation of at least a portion of the map;

and

wherein the processor is programmed to determine an icon in response to the first change in bearing.

19. The device of claim 18 further comprising a display coupled to the processor, wherein the display is configured to display the display representation of at least the portion of the map and the icon.