Device for use with a portable inertial navigation system (PINS) and method for processing PINS signals

• US 6,577,953 B1
• Filed: 02/19/2002
• Issued: 06/10/2003
• Est. Priority Date: 02/19/2002
• Status: Expired due to Term

• Current Assignee: Motorola Solutions, Inc.
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Tealdi, Daniel A., Koskan, Patrick Douglas, Swope, Charles B.
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US10/078,738
• Time in Patent Office: 476 Days
• Field of Search: 701/214, 701/216, 701/220, 701/221, 342/357.09, 342/357.1, 342/357.14, 702/150, 702/152, 702/153, 702/94
• US Class Current: 701/221
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems

Abstract

A first device (104) receives a first set of data from an inertial navigational device (100). The first set of data comprises at least one of sensor data, motion data, and location data, and is real-time output from the inertial navigational device (100). The first device (104) also receives a second set of data from a secondary source. The second set of data also comprises at least one of sensor data, motion data, and location data. The first device (104) generates an update message based on comparing the first set of data against the second set of data in order to improve location accuracy of the inertial navigational device (100). Optionally, the first device (104) can transmit the update message to the inertial navigational device (100).

Claims

1. A method comprising the steps:

of receiving a first set of data from an inertial navigational device, wherein the first set of data comprises at least one of sensor data, motion data, and location data, and wherein the first set of data is real-time output from the inertial navigational device;

receiving a second set of data from a secondary source, wherein the second set of data comprises at least one of sensor data, motion data, and location data;

generating an update message based on comparing the first set of data against the second set of data in order to improve location accuracy of the inertial navigational device; and

wherein the step of generating the update message comprises implementing a correlation algorithm against a motion history of the inertial navigational device.

2. The method of claim 1 further comprising the step of transmitting the update message to the inertial navigational device.

3. The method of claim 1 wherein the second set of data is selected from a group consisting of a reference gestures database and a structural database.

4. The method of claim 1 wherein the update message comprises supplemental sensor data.

5. The method of claim 1 wherein the secondary source is selected from one of the following:

a database, a global positioning system and verbal communication.

6. A method comprising the steps of:

receiving a first set of data from an inertial navigational device, wherein the first set of data comprises at least one of sensor data, motion data, and location data, and wherein the first set of data is real-time output from the inertial navigational device;

receiving a second set of data from a secondary source, wherein the second set of data comprises at least one of sensor data, motion data, and location data;

generating an update message based on comparing the first set of data against the second set of data in order to improve location accuracy of the inertial navigational device; and

storing a motion history of the inertial navigational device into memory.

7. The method of claim 6 wherein the second set of data is data collected off-line.

8. A device comprising:

a receiver for receiving a first set of data from an inertial navigational device and a second set of data from at least one secondary source, wherein the first set of data and the second set of data comprise at least one of sensor data, motion data, and location data, and wherein the first set of data is real-time output from the inertial navigational device; and

a processor, coupled to the receiver, for generating an update message based on comparing the first set of data against the second set of data in order to improve location accuracy of the inertial navigational device.

9. The device of claim 8 further comprising a transmitter, coupled to the processor, for transmitting the update message to the inertial navigational device.

10. The device of claim 8 further comprising a memory, and wherein the secondary source is stored in the memory.

11. The device of claim 8 wherein the secondary source is selected from a group consisting of a database and a location system.

12. The device of claim 8 wherein the second set of data is a collection of gestures that was collected in a given sequence and stored in a database that reflects movements in a structure.

13. The device of claim 12 wherein the second set of data is also a dimensional model of a given structure, and the collection of gestures reflects movements in the given structure.

14. The device of claim 12 wherein the given sequence of the collection of gestures is one of simulated, emulated, and actual gesture sequences that reflect movement in the structure.

15. The device of claim 12 wherein the given sequence of the collection of gestures is generated off-line and stored in a database.

16. The device of claim 8 wherein the second set of data is a collection of single gestures that are combined in sequence to develop a specific gesture sequence expected in a given structure.