Position measurement correction using loop-closure and movement data

• US 9,423,250 B1
• Filed: 08/23/2012
• Issued: 08/23/2016
• Est. Priority Date: 12/17/2009
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Troy, James J.
• Primary Examiner(s): Breene, John
• Assistant Examiner(s): Hagos, Eyob
• Application Number:
  US13/593,216
• Time in Patent Office: 1,461 Days
• Field of Search: 702/94, 73/13.8
• US Class Current: 1/1
• CPC Class Codes: B64F 5/00 Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
• CPC Class Codes: F41G 7/34 based on predetermined target position data
• CPC Class Codes: F41G 7/343 comparing observed and stored data of target position or of distinctive marks along the path towards the target
• CPC Class Codes: G01C 1/10 including an artificial horizon G01C1/14 takes precedence
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

A method includes initializing an inertial measurement unit (IMU) at a starting location and gathering acceleration and rotational data as the IMU is moved to an intermediate location. An indication that the IMU is at the intermediate location is received. The method includes gathering acceleration and rotational data as the IMU is moved to an ending location and calculating a position of the ending location based on a known position of the starting location and the acceleration data. The method includes calculating corrected acceleration data based on a difference between the calculated position of the ending location and a known position of the ending location, and calculating a position of the intermediate location based on the corrected acceleration data are provided.

Claims

1. A method comprising:

initializing an inertial measurement unit (IMU) of a portable device at a starting location;

generating first acceleration data by the IMU as the portable device is moved to an intermediate location;

receiving, at the portable device, an indication that the IMU is at the intermediate location;

generating second acceleration data by the IMU as the portable device is moved to an ending location;

calculating, by a processor of the portable device, an initial position estimate of the ending location based on a known position of the starting location, the first acceleration data, and the second acceleration data;

calculating, by the processor, corrected acceleration data based on a difference between the initial position estimate of the ending location and a known position of the ending location;

determining, by the processor, a position of the intermediate location based on the corrected acceleration data, and

generating an output indicating the position of the intermediate location.

2. The method of claim 1, wherein calculating corrected acceleration data includes applying an initial correction to each of multiple measured acceleration data points based on a beginning acceleration at the starting location and an ending acceleration at the ending location.

3. The method of claim 1, wherein calculating the corrected acceleration data includes:

selecting, by the processor, a candidate acceleration offset value;

applying, by the processor, the candidate acceleration offset value to each of multiple measured acceleration data points to form candidate corrected data;

determining, by the processor, a corrected calculated position for each of the multiple measured acceleration data points based on the candidate corrected data; and

determining, by the processor, whether the corrected calculated position of the ending location matches the known position of the ending location to within a specified tolerance;

wherein the processor ends an iterative refinement process when the corrected calculated position of the ending location matches the known position of the ending location to within the specified tolerance.

4. The method of claim 3, wherein the specified tolerance is stored in a memory of the portable device as an adjustable threshold based on desired accuracy of measurement of the position of the intermediate location.

5. The method of claim 3, wherein the processor uses the candidate corrected data as the corrected acceleration data when the iterative refinement process ends.

6. The method of claim 3, wherein the processor determines the candidate acceleration offset value using a root finding technique.

7. The method of claim 1, further comprising:

sending a signal, from the portable device to an application, the signal including information identifying the starting location; and

receiving, at the portable device, data indicating the known position of the starting location from the application in response to the signal.

8. The method of claim 1, further comprising storing, in a memory of the portable device, data indicating a first velocity and a first acceleration of the IMU at the starting location and a second velocity and a second acceleration of the IMU at the ending location.

9. The method of claim 1, wherein the starting location is the same as the ending location.

10. The method of claim 1, wherein positions determined based on the corrected acceleration data are calculated in three dimensions.

11. The method of claim 1, further comprising:

determining, by the processor, an error estimate as the IMU is moved from the starting location to the ending location; and

generating, by the portable device, a notification if the error estimate satisfies a threshold error estimate.

12. The method of claim 11, wherein the notification includes an audible output, a visual output, a haptic output, or a combination thereof.

13. An apparatus comprising:

a portable device including;

a memory;

an inertial measurement unit (IMU); and

a processor configured to;

initialize the IMU at a starting location;

receive, from the IMU, first acceleration data as the portable device is moved to an intermediate location;

receive an indication that the IMU is at the intermediate location;

receive, from the IMU, second acceleration data as the portable device is moved to an ending location;

calculate a position of the ending location based on a known position of the starting location, the first acceleration data, and the second acceleration data;

calculate corrected acceleration data based on a difference between the calculated position of the ending location and a known location position of the ending location;

determine a position of the intermediate location based on the corrected acceleration data, and

generate an output indicating the position of the intermediate location.

14. The positioning device of claim 13, further comprising an interface to receive data indicating the starting location, the ending location, or both, from a plurality of position detectors external to the positioning device.

15. The positioning device of claim 13, wherein the processor calculates the corrected acceleration data by applying an initial correction to each of multiple measured acceleration data points based on a beginning acceleration at the starting location and an ending acceleration at the ending location.

16. The positioning device of claim 13, wherein calculating the corrected acceleration data is performed using an iterative refinement process that includes:

selecting a candidate acceleration offset value;

applying the candidate acceleration offset value to each of multiple measured acceleration data points to form candidate corrected acceleration data;

determining a corrected calculated position for each of the multiple measured acceleration data points based on the candidate corrected acceleration data; and

determining whether the corrected calculated position of the ending location matches the known position of the ending location to within a specified tolerance;

wherein the processor ends the iterative refinement process when the corrected calculated position of the ending location matches the known position of the ending location to within the specified tolerance.

17. The positioning device of claim 13, wherein the processor is configured to store a velocity and an acceleration of the IMU for at least the starting location and the ending location at the memory.

18. The positioning device of claim 13, wherein processor is configured to calculate positions based on the corrected acceleration data in three dimensions.

19. The positioning device of claim 13, wherein the starting location is the same as the ending location.

20. A non-transitory computer-readable storage medium comprising instructions that, when executed by a processor of a portable device that includes an inertial measurement unit (IMU), cause the processor to:

initialize the IMU at a starting location;

receive first acceleration data from the IMU as the portable device is moved to an intermediate location;

receive an indication that the IMU is at the intermediate location;

receive second acceleration data from the IMU as the portable device is moved to an ending location;

calculate a position of the ending location based on a known position of the starting location, the first acceleration data, and the second acceleration data;

calculate corrected acceleration data based on a difference between the calculated position of the ending location and a known location position of the ending location;

determine a position of the intermediate location based on the corrected acceleration data, and

generate an output indicating the position of the intermediate location.