METHOD OF PERSONAL NAVIGATION USING STRIDE VECTORING
First Claim
1. A method for personal navigation, comprising:
- measuring a first position vector from a first object to a second object in a coordinate reference frame of the first object;
measuring a second position vector from the second object to the first object in a coordinate reference frame of the second object;
calculating a distance, direction, and orientation of the second object with respect to the first object using the first and second position vectors; and
determining a corrected path for navigation from the calculated distance, direction, and orientation of the second object with respect to the first object.
1 Assignment
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Accused Products
Abstract
A method of error compensation for an inertial measurement unit is provided. The method comprises providing a first object including an inertial measurement unit, providing a second object proximal to the first object, and determining an initial position and orientation of the first object. A motion update is triggered for the inertial measurement unit when the second object is stationary with respect to a ground surface. At least one position vector is measured between the first object and the second object when the first object is in motion and the second object is stationary. A distance, direction, and orientation of the second object with respect to the first object are calculated using the at least one position vector. An error correction is then determined for the inertial measurement unit from the calculated distance, direction, and orientation of the second object with respect to the first object.
13 Citations
18 Claims
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1. A method for personal navigation, comprising:
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measuring a first position vector from a first object to a second object in a coordinate reference frame of the first object; measuring a second position vector from the second object to the first object in a coordinate reference frame of the second object; calculating a distance, direction, and orientation of the second object with respect to the first object using the first and second position vectors; and determining a corrected path for navigation from the calculated distance, direction, and orientation of the second object with respect to the first object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for personal navigation, comprising:
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a processor; an inertial measurement unit operatively coupled to the processor; and a non-transistory computer readable medium comprising instructions executable by the processor to perform a method comprising; measuring a first position vector from a first object to a second object in a coordinate reference frame of the first object; measuring a second position vector from the second object to the first object in a coordinate reference frame of the second object; calculating a distance, direction, and orientation of the second object with respect to the first object using the first and second position vectors; and determining a corrected path for navigation from the calculated distance, direction, and orientation of the second object with respect to the first object; wherein the inertial measurement unit aids in the correction of position, heading, and distance errors while the first object is in motion. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A computer program product, comprising:
a non-transistory computer readable medium comprising instructions executable by a processor to perform a method comprising; measuring a first position vector from a first object to a second object in a coordinate reference frame of the first object; measuring a second position vector from the second object to the first object in a coordinate reference frame of the second object; calculating a distance, direction, and orientation of the second object with respect to the first object using the first and second position vectors; and determining a corrected path for navigation from the calculated distance, direction, and orientation of the second object with respect to the first object.
Specification