Method for estimating a trajectory orientation followed by a movement sensor carrier, corresponding device and computer program

• US 9,605,966 B2
• Filed: 04/18/2014
• Issued: 03/28/2017
• Est. Priority Date: 04/19/2013
• Status: Active Grant

• Current Assignee: Commissariat a L'Energie Atomique (AES Corporation), Movea
• Original Assignee: Commissariat a L'Energie Atomique (AES Corporation), Movea
• Inventors: Villien, Christophe
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US14/785,465
• Publication Number:
  US 20160084656A1
• Time in Patent Office: 1,075 Days
• Field of Search: 701/519, 701/518
• US Class Current: 1/1
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/06 involving measuring of drift angle; involving correction for drift
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/14 by recording the course traversed by the object G01C21/16 takes precedence
• CPC Class Codes: G01P 13/00 Indicating or recording presence, absence, or direction, of movement electric switches H01H; counting moving objects G06M7/00

Abstract

A method estimating orientation of a path followed by a carrier of a movement sensor includes: determining an orientation of the movement sensor with respect to the path; estimating an orientation of the movement sensor with respect to a fixed reference; estimating an orientation of the path with respect to the fixed reference by the determined orientation of the movement sensor and the estimated orientation of the movement sensor; detecting start and end of a phase of disorientation of the movement sensor with respect to the path; updating, after the detected end of the disorientation phase, determined orientation of the movement sensor with respect to the path by orientation of the path with respect to the fixed reference as estimated at the detected start of the disorientation phase and orientation of the movement sensor with respect to the fixed reference as estimated after the detected end of the disorientation phase.

Claims

1. A method for estimating an orientation of a path followed by a carrier of a movement sensor, the method comprising:

determining an orientation of the movement sensor with respect to the path followed by the carrier;

estimating, by processing circuitry, an orientation of the movement sensor with respect to a fixed reference linked to a terrestrial reference frame by measurements supplied by the movement sensor;

estimating, by the processing circuitry, an orientation of the path followed by the carrier with respect to the fixed reference by the determined orientation of the movement sensor with respect to the path and the estimated orientation of the movement sensor with respect to the fixed reference;

detecting a start and end of a phase of disorientation of the movement sensor with respect to the path; and

updating, by the processing circuitry, after the detected end of the disorientation phase, the determined orientation of the movement sensor with respect to the path based on the orientation of the path with respect to the fixed reference as estimated at the detected start of the disorientation phase and based on the orientation of the movement sensor with respect to the fixed reference as estimated after the detected end of the disorientation phase.

2. The method for estimating an orientation of a path according to claim 1, wherein a prior value of the orientation of the movement sensor with respect to the path is predetermined by recording a value entered by a user or known by default.

3. The method for estimating an orientation of a path according to claim 1, wherein:

a plurality of prior values of the orientation of the movement sensor with respect to the path are predetermined by recording values entered by a user or known by default, each prior value being associated with a possible predetermined placement of the sensor; and

one of the prior values is selected by measurements supplied by the sensor and characteristics of various possible predetermined placements of the sensor.

4. The method for estimating an orientation of a path according to claim 1, wherein a prior value of the orientation of the movement sensor with respect to the path is determined by estimation by a known prior value of the orientation of the path with respect to the fixed reference and the orientation of the movement sensor with respect to the fixed reference as estimated at an initial instant.

5. The method for estimating an orientation of a path according to claim 1, further comprising:

estimating a speed of the carrier by measurements supplied by the sensor; and

reconstructing the path followed by the carrier by the estimated speed of the carrier and the estimated orientation of the path followed by the carrier with respect to the fixed reference.

6. The method for estimating an orientation of a path according to claim 5, wherein, the movement sensor comprising an accelerometer with three measurement axes, a magnetometer with three measurement axes, and a gyrometer with three measurement axes,

the orientation of the movement sensor with respect to the fixed reference is estimated by the measurements supplied by the accelerometer, the magnetometer, and the gyrometer, and

the speed of the carrier is estimated by the measurements supplied by the accelerometer.

7. The method for estimating an orientation of a path according to claim 1, wherein the orientation of the movement sensor with respect to the fixed reference as estimated after the detected end of the disorientation phase is an averaged or filtered value to reduce an effect of parasitic fluctuations of the movement of the carrier.

8. A non-transitory computer readable medium, comprising instructions for executing the orientation estimation method according to claim 1, when executed on a computer.

9. A device for estimating an orientation of a path followed by a carrier, comprising:

a movement sensor configured to be carried by the carrier;

storage for storing an orientation value of the movement sensor with respect to the path followed by the carrier;

a computer connected to the movement sensor and to the storage, programmed to;

estimate an orientation of the movement sensor with respect to a fixed reference related to a terrestrial reference frame by measurements supplied by the carrier, and

estimate an orientation of the path followed by the carrier with respect to the fixed reference by the stored orientation value of the movement sensor with respect to the path and the estimated orientation of the movement sensor with respect to the fixed reference;

a detector for a start and end of a phase of disorientation of the movement sensor with respect to the path; and

wherein the computer is further programmed to update, after the detected end of the disorientation phase, the stored orientation value of the movement sensor with respect to the path based on the orientation of the path with respect to the fixed reference as estimated at the detected start of the phase of disorientation and based on the orientation of the movement sensor with respect to the fixed reference as estimated after the detected end of the disorientation phase.

10. A device for estimating an orientation of a path according to claim 9, further comprising a digital tablet or a cellphone, the movement sensor, the storage, and the computer being integrated in the digital tablet or cellphone.