Displaying walking signals variously rotated, estimating variance, vertical, lateral direction

• US 9,360,324 B1
• Filed: 07/21/2015
• Issued: 06/07/2016
• Est. Priority Date: 11/25/2010
• Status: Active Grant

• Current Assignee: Texas Instruments, Inc.
• Original Assignee: Texas Instruments, Inc.
• Inventors: Tripuraneni, Varun, Janardhanan, Jayawardan, Dutta, Goutam
• Primary Examiner(s): Butler, Rodney
• Assistant Examiner(s): Mazzara, Anne
• Application Number:
  US14/804,544
• Publication Number:
  US 20160138923A1
• Time in Patent Office: 322 Days
• Field of Search: 701/512
• US Class Current: 1/1
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/183 Compensation of inertial measurements, e.g. for temperature effects
• CPC Class Codes: G01C 21/185 for gravity
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 22/006 Pedometers

Abstract

A user-heading determining system (10) for pedestrian use includes a multiple-axis accelerometer (110) having acceleration sensors; a device-heading sensor circuit (115) physically situated in a fixed relationship to the accelerometer (110); an electronic circuit (100) operable to generate signals representing components of acceleration sensed by the accelerometer (110) sensors, and to electronically process at least some part of the signals to produce an estimation of attitude of a user motion with respect to the accelerometer, and further to combine the attitude estimation (750, α) with a device heading estimation (770, ψ) responsive to the device-heading sensor circuit, to produce a user heading estimation (780); and an electronic display (190) responsive to the electronic circuit (100) to display information at least in part based on the user heading estimation. Other systems, circuits and processes are also disclosed.

Claims

1. A process responsive to an accelerometer and a device-heading sensor unit, the process comprising:

generating signals representing components of acceleration acquired from said accelerometer;

electronically processing at least some part of the signals to produce walking step signals and an estimation of attitude of a user motion with respect to the accelerometer, and further to combine the attitude estimation with a device heading estimation responsive to said device-heading sensor unit, to produce a user heading estimation;

electronically rotating through various rotations said at least part of the signals, estimating a parameter of the signals related to variance, and estimating a vertical direction and a lateral user direction where the parameter is substantially maximum and where it is substantially minimum respectively; and

portably displaying a visual path of walking jointly based on said walking step signals, attitude estimation and device heading estimation.

2. The process claimed in claim 1 in which the estimation of attitude is based on estimating direction of user motion substantially perpendicular to both the aforesaid vertical direction and lateral user direction.

3. The process claimed in claim 1 in which the processing includes executing a vector-average on said at least part of the signals to determine a direction related to gravity, and using such determination to resolve an up/down sense of the vertical direction.

4. The process claimed in claim 1 including detecting a sense of a leading or lagging relation between acceleration in the vertical direction and acceleration in a forward direction, and resolving whether the user motion is forward or backward using the detected sense of the relation.

5. The process claimed in claim 1 including monitoring for a phase difference between acceleration in the vertical direction and acceleration in a forward direction, and processing in different motion monitoring modes depending on the comparison.

6. The process claimed in claim 1 in which the processing includes vector-averaging on said at least part of the signals to estimate a direction related to gravity.

7. The process claimed in claim 6 in which the processing includes electronically searching in a horizontal plane substantially perpendicular to the estimated direction related to gravity wherein that searching electronically rotates said at least part of the signals and estimates a parameter related to variance, and then generating a forward direction of user motion at the rotation direction where such parameter corresponds to a maximum variance.

8. The process claimed in claim 7 in which the processing includes estimating the attitude by electronically deriving an angle in the horizontal plane between the forward direction and a sensor axis direction in the horizontal plane.

9. The process claimed in claim 1 in which the processing includes filtering the respective acceleration component signals prior to the attitude estimating using a filtering selected from the group consisting of:

1) sliding window correlating,

     2) integrating,

     3) bandpass filtering passing human motion frequencies,

     4) polynomial filtering smoothing human motion frequencies.

10. The process claimed in claim 1 in which the processing includes electronically estimating a direction related to gravity and electronically executing a search in a plane substantially perpendicular to the estimated direction related to gravity wherein that search electronically rotates said at least part of the signals and estimates a parameter related to variance, and then determining a particular direction of motion with respect to the accelerometer as a direction along which such parameter is minimized.

11. The process claimed in claim 10 in which the processing includes electronically estimating the attitude using that direction along which such parameter is minimized.