System and method for tracking a moving person

• US 8,150,624 B2
• Filed: 11/11/2008
• Issued: 04/03/2012
• Est. Priority Date: 11/11/2008
• Status: Active Grant

• Current Assignee: Northrop Grumman Systems Corporation (Northrop Grumman Corporation)
• Original Assignee: Northrop Grumman Systems Corporation (Northrop Grumman Corporation)
• Inventors: Berardi, Stephen A., Fax, Joseph A.
• Primary Examiner(s): Rosen, Nicholas D
• Application Number:
  US12/268,687
• Publication Number:
  US 20100121572A1
• Time in Patent Office: 1,239 Days
• Field of Search: 701/210, 701/216, 701/217, 701/220, 701/411, 701/472, 701/479, 701/480, 701/494, 701/499, 701/500, 701/509, 701/510
• US Class Current: 701/500
• CPC Class Codes: A61B 2562/0219 Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
• CPC Class Codes: A61B 5/1112 Global tracking of patients, e.g. by using GPS
• CPC Class Codes: A61B 5/6802 Sensor mounted on worn items
• CPC Class Codes: G01B 21/22 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments

Abstract

Systems and methods are provided for tracking a moving person. The system comprises a controller configured to receive acceleration data that characterizes an acceleration of the moving person in three dimensions. The controller comprises a step rate component that determines a step rate for the person based on a vertical component of the acceleration data. The controller also comprises a body offset component that determines a body offset angle based on a spectral analysis of the acceleration data and the step rate. The controller further comprises a velocity component that determines a reference velocity vector based on the body offset angle and the step rate.

Claims

1. A system for tracking a moving person, the system comprising:

a controller configured to;

receive acceleration data that characterizes an acceleration of the moving person in three dimensions and heading data that characterizes a heading of the moving person, wherein the controller comprises;

a step rate component that determines a step rate for the person based on a vertical component of the acceleration data;

a body offset component that determines a body offset angle and a velocity unit vector based on the heading data, the step rate and a spectral analysis of horizontal components of the acceleration data, wherein the body offset angle characterizes a torso offset of the moving person and the velocity unit vector characterizes a direction of travel of the moving person; and

a velocity component that determines a reference velocity vector that characterizes a speed and direction of travel of the moving person based on the velocity unit vector, the step rate.

2. The system of claim 1, wherein the velocity vector is also based on a predetermined stride length.

3. The system of claim 2, wherein the acceleration data comprises:

a vertical component that characterizes acceleration in a vertical direction;

a first horizontal component that characterizes acceleration in a first horizontal direction; and

a second horizontal component that characterizes acceleration in a second horizontal direction offset about 90 degrees from the first horizontal direction.

4. The system of claim 3, further comprising:

a vertical accelerometer that provides the vertical component of the acceleration data;

a first horizontal accelerometer that provides the first horizontal component of the acceleration data; and

a second horizontal accelerometer that provides the second horizontal component of the acceleration data.

5. The system of claim 1, wherein the controller further comprises a Kalman Filter component configured to determine a stride length error of the moving person based on a recursive comparison of the reference velocity vector and a navigation velocity that characterizes an integration of at least a portion of the acceleration data over a predetermined amount of time.

6. The system of claim 5, wherein the controller further comprises a dead reckoning component that determines an offset corrected position of the moving person based on the stride length error, the reference velocity vector and a last known or calculated position of the moving person, wherein the offset corrected position of the moving person characterizes an estimated or calculated position of the moving person.

7. The system of claim 6, further comprising a global positioning system (GPS) configured to receive satellite signals and to determine a position of the moving person based on the received satellite signals.

8. The system of claim 7, wherein the controller is configured to determine the offset corrected position of the moving person if the GPS fails to receive the satellite signals.

9. The system of claim 1, wherein the body offset angle is further based on heading data that characterizes a detected heading of the moving person.

10. A system for tracking a moving person, the system comprising:

a controller configured to receive acceleration data that characterizes an acceleration of the moving person in three dimensions, wherein the controller comprises;

a step rate component that determines a step rate for the person based on a vertical component of the acceleration data;

a body offset component that determines a body offset angle based on a spectral analysis of the acceleration data and the step rate; and

a velocity component that determines a reference velocity vector based on the body offset angle and the step rate;

wherein the spectral analysis of the acceleration data includes comparing a signal strength in first and second horizontal components provided from corresponding first and second horizontal accelerometers for signals at a frequency substantially equal to the step rate.

11. The system of claim 10, wherein the signal strength of the first horizontal component varies in inverse proportion to the body offset angle, and the signal strength of the second horizontal component varies in proportion to the body offset angle.

12. An integrated unit that includes the system of claim 11, wherein the integrated unit is detachably affixed to a position at or above a waistline of the moving person.

13. A system for tracking a moving person, the system comprising:

means for providing three dimensional acceleration data that characterizes acceleration of the moving person in three dimensional space;

means for determining a step rate of the moving person based on a vertical component of the three dimensional spectral data; and

means for spectrally analyzing the step rate and horizontal components of the three dimensional acceleration data to determine a magnitude of a body offset angle that characterizes a magnitude of a torso offset of the moving person.

14. The system of claim 13, further comprising:

means for determining a body offset angle based on the magnitude of the body offset angle and heading data that characterizes a detected heading of the moving person, wherein the body offset angle characterizes a torso offset of the moving person; and

means for determining a velocity unit vector that characterizes the direction of travel of the moving person.

15. The system of claim 14, further comprising means for determining a reference velocity based on the determined body offset angle and the step rate.

16. The system of claim 15, further comprising means for determining a navigation velocity vector based on an integration of at least a portion of the acceleration data over a predetermined amount of time.

17. The system of claim 16, further comprising means for determining a stride length error based on a Kalman Filter recursive comparison of the reference velocity vector and the navigation velocity.

18. A method for tracking a moving person, the method comprising:

determining, at a controller, a step rate for the moving person; and

determining, by the controller, a body offset angle for the moving person based on the step rate and a detected heading of the moving person and a spectral analysis of horizontal components of acceleration data that characterizes an acceleration of the moving person in three dimensional space wherein the body offset angle characterizes a torso offset of the moving person.

19. The method of claim 18, further comprising:

determining, by the controller a velocity unit vector based on the body offset angle, the velocity unit vector characterizing a direction of travel of the moving person; and

determining, by the controller, a reference velocity of the moving person based on the step rate, and the velocity unit vector.

20. The method of claim 19, further comprising:

determining, by the controller, a navigation velocity of the moving person based on an integration of at least a portion of the acceleration data;

determining, by the controller, a stride length error based on a Kalman Filter recursive comparison of the navigation velocity and the reference velocity; and

determining, by the controller, a position of the moving person based on a last known or calculated position of the moving person, the stride length error and the reference velocity.