Orientation estimation utilizing a plurality of adaptive filters

• US 9,863,784 B2
• Filed: 02/11/2015
• Issued: 01/09/2018
• Est. Priority Date: 02/23/2014
• Status: Active Grant

• Current Assignee: PNI Sensor Corporation
• Original Assignee: PNI Sensor Corporation
• Inventors: Hsu, George
• Primary Examiner(s): Schoenholtz, Joseph
• Application Number:
  US14/619,324
• Publication Number:
  US 20150241245A1
• Time in Patent Office: 1,063 Days
• Field of Search: None
• CPC Class Codes: G01C 19/5776 Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
• CPC Class Codes: G01C 21/16 by integrating acceleration or speed, i.e. inertial navigation
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G01R 33/02 Measuring direction or magnitude of magnetic fields or magnetic flux G01R33/20 takes precedence

Abstract

Apparatuses, methods and systems apparatus for sensing an orientation are disclosed. One apparatus includes an accelerometer, wherein the accelerometer generates a sensed acceleration of the accelerometer and a gyroscope, wherein the gyroscope generates a sensed orientation of the gyroscope. The apparatus further includes a first adaptive filter, the first adaptive filter operative to receive at least the sensed acceleration and the sensed orientation of the gyroscope, and generate a first orientation (Q) of the apparatus, a second adaptive filter, the second adaptive filter operative to receive at least the sensed acceleration and the sensed orientation of the gyroscope, and generate a second orientation (Q′) of the apparatus, wherein a tuning for the first adaptive filter is different than a tuning for the second adaptive filter.

Claims

1. An apparatus, comprising:

an accelerometer, wherein the accelerometer generates a sensed acceleration of the accelerometer;

a gyroscope, wherein the gyroscope generates a sensed orientation of the gyroscope;

a first adaptive filter, wherein the first adaptive filter receives the sensed acceleration and the sensed orientation of the gyroscope, and generates a first orientation (Q) of the apparatus;

a second adaptive filter, wherein the second adaptive filter receives the sensed acceleration and the sensed orientation of the gyroscope, and generates a second orientation (Q′

) of the apparatus;

wherein

a tuning for the first adaptive filter is different than a tuning for the second adaptive filter.

2. The apparatus of claim 1, further comprising:

a magnetic sensor, wherein the magnetic sensor generates a sensed magnetic field ambient to the magnetic sensor;

wherein

the first adaptive filter further operative to receive the sensed magnetic field and generate the first orientation (Q);

wherein the second adaptive filter further receives the sensed magnetic field, and generates the second orientation (Q′

).

3. The apparatus of claim 1, wherein a motion model for the first adaptive filter is selected to be different than a motion model for the second adaptive filter, which results in the tuning of the first adaptive filter being different than the tuning of the second adaptive filter.

4. The apparatus of claim 3, wherein the selection of the motion models includes the selection of coefficients of matrices of the adaptive filters.

5. The apparatus of claim 3, wherein the motion models provide the first adaptive filter with a different time constant than the second adaptive filter.

6. The apparatus of claim 5, wherein the different time constant of the first adaptive filter makes the first adaptive filter more responsive to changes in acceleration than the second adaptive filter.

7. The apparatus of claim 6, wherein an output of the second adaptive filter is used for analyzing pedestrian dead reckoning (PDR) of the apparatus, and an output of the first adaptive filter is used for sensing rapid changes in acceleration of the apparatus.

8. The apparatus of claim 1, wherein coefficients or gains of the sensor inputs are adaptively adjusted.

9. The apparatus of claim 1, wherein a first time constant of the generation of the first orientation of the apparatus is different than a second time constant of the generation of the second orientation.

10. The apparatus of claim 1, wherein the second adaptive filter additionally receives the first orientation (Q) of the first adaptive filter.

11. The apparatus of claim 1, wherein the first adaptive filter additionally receives the second orientation (Q) of the second adaptive filter.

12. The apparatus of claim 1, wherein at least one of the first adaptive filter and the second adaptive filter receives a radio frequency (RF) signal received by the apparatus.

13. The apparatus of claim 1, wherein the orientation includes a velocity estimate based on linear acceleration, and a double integration for distance estimates.

14. The apparatus of claim 1, further comprising a first filter receiving and filtering the first orientation, and a second filter receiving and filtering the second orientation, wherein the first filter and the second filter are tuned based on human models to determine long and short time constant linear acceleration and gravity separation for pedestrian dead reckoning acceleration measurements.