Deduced reckoning navigation without a constraint relationship between orientation of a sensor platform and a direction of travel of an object

• US 9,816,819 B2
• Filed: 10/18/2013
• Issued: 11/14/2017
• Est. Priority Date: 09/22/2010
• Status: Active Grant

• Current Assignee: Invensense Incorporated (TDK Corporation)
• Original Assignee: Invensense Incorporated (TDK Corporation)
• Inventors: Keal, William Kerry, Sachs, David, Lin, Shang-Hung, Anderson, Erik
• Primary Examiner(s): Desta, Elias
• Application Number:
  US14/057,594
• Publication Number:
  US 20140046586A1
• Time in Patent Office: 1,488 Days
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 22/006 Pedometers

Abstract

Systems, methods, and apparatus for performing deduced reckoning navigation without a constraint relationship between orientation of a sensor platform and a direction of travel of an object are described herein. A sensor fusion component can be configured to receive data from sensors of a sensor platform coupled to a pedestrian; and generate world coordinate information based on the data. Further, a gait recognition component can be configured to record one or more walking patterns of the pedestrian in a training database; and determine whether the world coordinate information is associated with a walking pattern of the one or more walking patterns. Furthermore, a position estimation component can be configured to estimate a position of the pedestrian based on the world coordinate information if the world coordinate information is associated with the walking pattern, regardless of an orientation of the sensor platform with respect to the position of the pedestrian.

Claims

1. A method of determining the direction of travel of an object comprising:

determining a p-frame of an object coupled to a user, an axis of the p-frame being aligned with gravity;

receiving sensor data from a sensor platform;

transforming the sensor data into the p-frame;

generating p-frame data; and

estimating by a system comprising a processor, a direction of travel of the object using the p-frame data.

2. The method of determining the direction of travel, as recited in claim 1, wherein the sensor data includes accelerometer data.

3. The method of determining the direction of travel, as recited in claim 1, wherein the p-frame has an axis aligned with the user.

4. The method of determining the direction of travel, as recited in claim 1, wherein the gravity is determined by a gyroscope data or an accelerometer data.

5. The method of determining the direction of travel, as recited in claim 1, wherein the direction of travel is determined within the p-frame.

6. The method of determining the direction of travel, as recited in claim 1, wherein the direction of travel is transformed from the p-frame to world frame.

7. The method of determining the direction of travel, as recited in claim 1, wherein the difference between the p-frame and the world frame is a single angular rotation about a vector aligned with gravity.

8. The method of determining the direction of travel, as recited in claim 1, wherein the p-frame remains constant while the user moves.

9. The method of determining the direction of travel, as recited in claim 1, further including learning a walking pattern of the user using a gait recognition component.

10. The method of determining the direction of travel, as recited in claim 1, wherein the learning being performed by recording a data sequence for a period of time and checking for repetition of a motion pattern similar to the data sequence and verifying if the similar motion pattern creates a linear acceleration toward a similar heading.

11. The method of determining the direction of travel, as recited in claim 1, wherein the gait recognition component utilizes fast Fourier transform (FFT), wavelet analysis, hidden Markov model, or auto-correlation for gait recognition.

12. The method of determining the direction of travel, as recited in claim 1, wherein upon the gait recognition component detecting a repeating moving sequence by the user that resembles a walking pattern in a training database, triggering estimation of the stride length and heading of the user.

13. The method of determining the direction of travel, as recited in claim 1, further including performing gait recognition by detecting the maximum, the minimum, or variance of acceleration of the user and angular rate waveforms.

14. The method of determining the direction of travel, as recited in claim 1, further including performing gait recognition by determining a start and end points of a walking step of the user based on a zero-crossing point of an acceleration waveform.

15. The method of determining the direction of travel, as recited in claim 1, further including performing gait recognition by using a step duration of the user.

16. The method of determining the direction of travel, as recited in claim 1, wherein a navigation processing block generating a position estimate and transmitting the same via a wireless link.

17. The method of determining the direction of travel, as recited in claim 1, wherein transmitting the position estimate to a handset or display device.

18. The method of determining the direction of travel, as recited in claim 1, further including triggering a position estimation component based on detection of a gait pattern.

19. The method of determining the direction of travel, as recited in claim 1, further including a position estimation component estimating a heading of the user, a direction of travel of the user, a navigation result associated with the user, or a travel distance associated with the user.

20. The method of determining the direction of travel, as recited in claim 19, wherein the position estimation component estimating the heading of the user by utilizing a Kalman filter.

21. A method of determining the direction of travel of an object comprising:

determining a p-frame of an object coupled to a user, an axis of the p-frame being aligned with a user;

receiving sensor data from a sensor platform;

transforming the sensor data into the p-frame;

generating p-frame data; and

estimating by a system comprising a processor, a direction of travel of the object using the p-frame data.