Step filter for estimating distance in a time-of-flight ranging system

• US 9,194,943 B2
• Filed: 04/11/2012
• Issued: 11/24/2015
• Est. Priority Date: 04/12/2011
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Hassan, Hasib, Benton, Dale R., Lu, John, Gorman, Brian A.
• Primary Examiner(s): GALT, CASSI J
• Application Number:
  US13/443,998
• Publication Number:
  US 20120262340A1
• Time in Patent Office: 1,322 Days
• Field of Search: 340/539.1, 340/992, 342/458
• US Class Current: 1/1
• CPC Class Codes: G01S 11/02 using radio waves G01S19/00 takes precedence
• CPC Class Codes: G01S 11/06 using intensity measurements
• CPC Class Codes: G01S 11/08 using synchronised clocks

Abstract

A ranging system includes a time of flight subsystem including circuitry incorporated in a mobile node and a base station for generating a TOF signal between the mobile node and the base station, measuring the time taken for transmission of the TOF signal, and generating a TOF distance signal based on the measured time. An accelerometer, mounted in the mobile node, generates an accelerometer signal. A distance filter generates the distance estimate. The filter is configured to (i) initialize the value of a distance estimate signal based on the TOF distance signal, (ii) detect a human step based on variances in the accelerometer signal, and (iii) change the value of the distance estimate signal by a predetermined quantum only upon detection of the human step, the change being positive or negative depending on a direction of the TOF distance signal relative to the distance estimate signal.

Claims

1. A method of estimating a distance between a mobile node and a base station, said method comprising:

providing a display on the mobile node;

providing a time of flight subsystem including circuitry incorporated in the mobile node and the base station and generating a time of flight distance signal by periodically transmitting a time of flight signal between the mobile node and the base station and measuring the time taken for transmission of the time of flight signal therebetween;

providing an accelerometer on the mobile node and generating an accelerometer signal therewith;

initializing the value of a distance estimate signal based on the time of flight distance signal;

detecting a human step based on variances in the accelerometer signal;

changing the value of the distance estimate signal by a predetermined quantum only upon detection of a human step, wherein the value of the distance estimate signal is increased by the predetermined quantum responsive to the time of flight distance signal being greater than the distance estimate signal and wherein the value is decreased by the predetermined quantum responsive to the time of flight distance signal being less than the distance estimate signal; and

periodically displaying the value of the distance estimate signal on the display.

2. A method according to claim 1, including passing a raw time of flight distance signal generated by the time of flight subsystem through a smoothing filter to thereby generate a smoothed time of flight distance signal utilized by said changing step.

3. A method according to claim 2, wherein the smoothing filter is a digital biased median filter that is biased low.

4. A method according to claim 2, including passing a raw accelerometer signal generated by the accelerometer through a smoothing filter to thereby generate a smoothed accelerometer signal utilized by said detecting step.

5. A method according to claim 4, wherein the smoothing filter comprises a digital median filter.

6. A method according to claim 4, wherein whether the smoothed time of flight distance signal is greater than or less than the distance estimate signal is determined based on the value of smoothed time of flight distance signal at the substantially the same instant in time when a human step is detected.

7. A method according to claim 4, wherein whether the smoothed time of flight distance signal is greater than or less than the distance estimate signal is determined based on an average of the smoothed time of flight distance signal as generated over a predetermined period of time before the detection of the human step.

8. A method according to claim 4, wherein detecting a human step includes examining the smoothed accelerometer signal for the occurrence of two serial local peaks, each of which exceeds a predetermined amplitude, within a predetermined range of time periods indicative of human gait.

9. A method according to claim 8, wherein detecting a human step further includes examining the smoothed accelerometer signal for a slope within a predetermined range of slopes indicative of human gait.

10. A method according to claim 1, wherein the value of the distance estimate signal is changed by a different predetermined quantum depending on whether the distance estimate signal is being increased or decreased, and wherein the predetermined quantum by which the distance estimate signal is increased is lower than the predetermined quantum by which the distance estimate signal is decreased.

11. A system that provides an estimate of the distance between a mobile node and a base station, said system comprising:

a display disposed on the mobile node;

a time of flight subsystem including circuitry incorporated in the mobile node and the base station for generating a time of flight signal between the mobile node and the base station, measuring the time taken for transmission of the time of flight signal, and generating a time of flight distance signal based on the measured time;

an accelerometer, mounted in the mobile node, for generating an accelerometer signal;

a distance filter for generating the distance estimate, the distance filter configured to (i) initialize the value of a distance estimate signal based on the time of flight distance signal, (ii) detect a human step based on variances in the accelerometer signal, and (iii) change the value of the distance estimate signal by a predetermined quantum only upon detection of said human step, wherein the value of the distance estimate signal is increased by the predetermined quantum responsive to the time of flight distance signal being greater than the distance estimate signal and wherein the value is decreased by the predetermined quantum responsive to the time of flight distance signal being less than the distance estimate signal; and

wherein said system is operable to periodically display the value of the distance estimate signal on the display.

12. A system according to claim 11, including a smoothing filter, wherein the smoothing filter receives a raw time of flight distance signal generated by the time of flight subsystem, and generates a smoothed time of flight distance signal that is utilized in determining the change in the distance estimate signal.

13. A system according to claim 12, wherein the smoothing filter comprises a digital biased median filter that is biased low.

14. A system according to claim 12, including a smoothing filter, wherein the smoothing filter receives a raw accelerometer signal generated by the accelerometer and generates a smoothed accelerometer signal utilized in the detection of the human step.

15. A system according to claim 14, wherein the smoothing filter comprises a digital median filter.

16. A system according to claim 14, wherein whether the smoothed time of flight distance signal is greater than or less than the distance estimate signal is determined based on the value of smoothed time of flight distance signal at the substantially the same instant in time when a human step is detected.

17. A system according to claim 14, wherein whether the smoothed time of flight distance signal is greater than or less than the distance estimate signal is determined based on an average of the smoothed time of flight distance signal as generated over a predetermined period of time before the detection of the human step.

18. A system according to claim 14, wherein the distance filter detects a human step by examining the smoothed accelerometer signal for the occurrence of two serial local peaks, each of which exceeds a predetermined amplitude, within a predetermined range of time periods indicative of human gait.

19. A system according to claim 18, wherein the distance filter detects a human step by examining the smoothed accelerometer signal for a slope within a predetermined range of slopes indicative of human gait.

20. A system according to claim 11, wherein the value of the distance estimate signal is changed by a different predetermined quantum depending on whether the distance estimate signal is being increased or decreased, and wherein the predetermined quantum by which the distance estimate signal is increased is lower than the predetermined quantum by which the distance estimate signal is decreased.

21. A method of estimating a distance between a mobile node and a base station, said method comprising:

providing a display on the mobile node;

providing a time of flight subsystem including circuitry incorporated in the mobile node and the base station and generating a time of flight distance signal by periodically transmitting a time of flight signal between the mobile control node and the base station and measuring the time taken for transmission of the time of flight signal therebetween;

providing a radio signal strength subsystem including circuitry incorporated in the mobile node and the base station and generating an SSI distance signal based on a strength of a radio signal received by one of the mobile node and the base station;

providing an accelerometer on the mobile node and generating an accelerometer signal therewith;

fusing the SSI distance signal and the time of flight distance signal to generate a fused distance signal;

initializing the value of a distance estimate signal based on the fused distance signal;

detecting a human step based on variances in the accelerometer signal;

changing the value of the distance estimate signal by a predetermined quantum only upon detection of a human step, wherein the value of the distance estimate signal is increased by the predetermined quantum responsive to the fused distance signal being greater than the distance estimate signal and wherein the value is decreased by the predetermined quantum responsive to the fused distance signal being less than the distance estimate signal; and

periodically displaying the value of the distance estimate signal on the display.