WO2016050385A1

WO2016050385A1 - Mobile terminal and method for determining the orientation on a mobile terminal

Info

Publication number: WO2016050385A1
Application number: PCT/EP2015/067466
Authority: WO
Inventors: Asa Macwilliams
Original assignee: Siemens Aktiengesellschaft
Priority date: 2014-09-30
Filing date: 2015-07-30
Publication date: 2016-04-07
Also published as: EP3170016A1; DE102014219798A1

Abstract

The present invention comprises a method for determining the orientation on a mobile terminal. In the process, a position (P) of the mobile terminal (MEG) is determined, a surroundings of the mobile terminal is detected, line-type patterns (M) are extracted from the detected surroundings, and a pattern main axis (MHA) from the line-type patterns (M) is identified. A device offset (GEV) is determined as an angle difference between a main axis (GHA) of the mobile terminal and the pattern main axis (MHA) at the determined position (P). Furthermore, a pattern main axis offset (MHV) is retrieved as an angle difference between the pattern main axis (MHA) and a reference orientation (RFO) at the determined position (P). Finally, a sum of the angles is determined from the pattern main axis offset (MHV) and the device offset (GEV).

Description

description

Mobile terminal and orientation determination method on a mobile terminal

The invention relates to a mobile terminal and a procedural ^¬ ren for orientation determination at a mobile terminal.

In the prior art, mobile terminals are known which allow a routing of an operator. A routing outside of buildings today largely zuver ^¬ loosely in application of a position determination based on satellite signals, in particular in the application of Global Positioning System signals, known in the art as GPS.

In contrast, routing systems within at least partially closed areas, such as buildings, still have a number of technical problems. These problems of such also referred to as indoor navigation systems Wegführungs ^¬ procedures are mainly due to the fact that a reception of GPS signals in buildings is technically almost impossible. In closed areas, therefore, alternative methods have been established which are intended to enable position and orientation determination of a mobile terminal in the absence of satellite signals.

To determine the position of a mobile terminal, for example, methods are known which WLAN (Wireless Local Area Network) or detect Bluetooth signals, using the ge ^¬-measured signal strength, for example using triangulation methods or lookup tables for determining the position. These methods allow a determination of the position of a mobile terminal, but not the orientation of the mobile terminal.

Under the orientation of a mobile terminal, in the following either one measured at a current position absolute indication of direction with respect to a Referenzorientie ^¬ tion, such as a compass direction, such as north, understood, or a relative indication of direction in which the mobile Endge ^¬ advises a fixed reference point is moved with respect.

For determining the orientation complementary methods are known which provide an application of an inertial navigation system with additional use of magnetic field sensors (compass sensors). An inertial navigation allows a measurement of movements in space in six kinematic degrees of freedom, of which three translational and three

rotational degrees of freedom. With this inertial navigation system, changes in position, ie orientation in space, can be determined. A determination of the orientation is in particular independent of any localization signals from the environment.

An inertial navigation system requires a double integration of acceleration measurements and a simple integration of angular velocity measurements. A typically strong sensor drift and mathematically REQUIRED ^¬ che cross-coupling of orthogonal sensor axes result in significant errors in the orientation determination with influence that a cumulative effect with time progresses.

It has therefore already been proposed to supplement inertial navigation systems with additional orientation determination methods. To determine integration constants, to improve the accuracy and to correct the sensor drift, assistive orientation determination methods using evaluation of magnetic field sensors or compass sensors are used. Magnetic field sensors are, however, influenced by magnetic interference from power lines, etc. metal ^¬ walls. For the correction of deviations and disturbing influences a software-based signal processing, for example by means of Kalman filtering is known. Notwithstanding these additional orientation determination techniques, the orientations within buildings give way in practice around angular errors up to 20 degrees from an actual orientation. The angle error, also known as deviation, corresponds to an angle between an actual orientation and the measured orientation.

The present invention is faced with the task of creating With ^¬ tel, which provide an alternative or additional orientation determination at a mobile terminal.

The object is achieved by a mobile terminal with the features of claim 1.

The mobile terminal according to the invention comprises

- a position determining unit for determining a Po ^¬ sition of the mobile terminal;

an image acquisition unit for detecting an environment of the mobile terminal, for extracting line-like patterns from the detected environment and for determining a master main axis from the line-like patterns;

- a determination unit for determining a Gerätversat ^¬ zes as an angle difference between a major axis of the mobile terminal, and the pattern principal axis at the specific position;

- a retrieval unit for retrieving a Musterhauptachsenversat ^¬ zes as an angle difference between the pattern of major axis and a reference orientation at the specific position;

an orientation determination unit for determining an angle sum from the pattern main axis offset and the device offset.

The object is further achieved by a procedural ^¬ ren with the features of the patent claim. 5 The inventive method for orientation determination on a mobile terminal comprises the following steps:

- determining a position of the mobile terminal; Detecting an environment of the mobile terminal, extracting line-like patterns from the detected environment, and obtaining a master pattern from the line-like patterns;

- Determining a device offset as an angle difference between a main axis of the mobile terminal and the Mus ^¬ ter main axis at the specific position;

Retrieving a master pattern axis offset as the angular difference between the master pattern axis and a reference orientation at the determined position; and;

- Determination of an angle sum from the pattern main axis offset and the device offset.

The object is further achieved by a computer program product having the features of patent claim 11. The Compu ^¬ terprogramm is executed in a processor of a mobile terminal, wherein the method executes with the execution. With the use of the means according to the invention an orientation determination is advantageously provided, which achieves a high accuracy in comparison with other orientation determination methods while avoiding the drift or jitter problems known in the prior art.

Unlike known complex optical position and orientation calculation from stored 3D models of a building is a detection of an environment and a Extrakti ^¬ on line-like pattern of the detected environment in an advantageous manner to accomplish with less computational resources.

Further embodiments of the invention are the subject of the dependent claims.

In the following, further embodiments and advantages of the invention will be explained in more detail with reference to the drawing. Showing: Figure 1 is a schematic representation of the approach determination Orientie ^¬ a mobile terminal used in a horizon axes system;. and;

2 shows a schematic representation of selected functional components in a mobile terminal according to an embodiment of the invention. FIG. 1 shows a Cartesian coordinate system-in the following also a horizontal system-consisting of an abscissa x and an ordinate y whose origin P corresponds to a determined position of a mobile terminal MEG. According to the invention, at least one image acquisition unit arranged in the mobile terminal detects an environment of the mobile terminal.

The detection of the environment takes place in an advantageous manner by an image acquisition unit directed at a floor. This direction to the floor corresponds advantageous ^¬ manner a natural orientation of a built-in commercial mobile terminals on the rear imaging unit or camera, when an operator holds the mobile terminal while standing in the hand and, disposed on the opposite against ^¬ front display unit considered the mo ^¬ bilen terminal. The arranged on the back of the image capture unit is directed in commercial mobile Endgerä ^¬ th in the opposite direction to the display unit and usually serves an audiovisual recording of the environment with simultaneous possibility of viewing the recorded environment.

Alternatively or additionally, the detection of the environment is carried out by a directed to a ceiling of the environment images ^¬ fassungseinheit. This direction on the ceiling advantageously corresponds to a natural orientation of a direction towards the display unit of the mobile terminal. directed imaging unit when an operator holds the mobile terminal in the hand while looking at a display unit of the mobile terminal. The aligned in the direction of the Ad ^¬ gene unit of the mobile terminal Bilderfas- sungseinheit corresponds to a camera, which will normally detect the face of the operator to perform a Audiovisual ^¬ len communication.

Line-like patterns M are extracted from the detected environment according to the invention, which are sketched by way of example in the drawing and are shown obliquely above the horizon system for reasons of clarity. For example, regular patterns in tile joints, ceiling joints, parquet planks, strips in linoleum floors, weave patterns in carpets, ceiling light tubes and their reflections on granite floors, etc. are abstracted using pattern recognition methods and the line-shaped pattern M is extracted. The Erfas ^¬ solution of wall patterns or baseboards is conceivable. In the example of the drawing, the line-like pattern M has been extracted from a tile joint pattern, wherein the tiles have an elongated rectangular base.

In a further step, a pattern main direction MHA is extracted. The pattern mainstream MHA corresponds to the present example of an acquired tile joints pattern of Läng ^¬ union joint direction.

The line-like pattern M was, however, of a - not shown - extracted tile grout pattern in which Flie- sen having a square base, a eindeu ^¬ term pattern MHA main direction is not clearly determined. From the two possible directions orthogonal to one another, a pattern main direction MHA is determined by selection and an orientation determination based thereon is corrected, if appropriate using orientations determined by other methods. In the case of a hexagonal or more complex base of a - not shown - tile joint pattern or

Flooring pattern, the pattern main direction MHA can be determined by a geometric center of gravity determination of the individual lines whose individual centers of gravity are extrapolated with a respec ^¬ ge line. The geometric mean of Li ^¬ nien then also leads in this case to a unique pattern MHA main direction or, as in the above case orthogonal, at least only ambiguous patterns main direction MHA.

In the extraction of the line-like pattern M or even in the determination of the pattern main axis MHA is to be noted that the mobile terminal in the already described attitude in which the operator holds the mobile terminal standing in his hand and a display unit of the mobile terminal ^{¬ considered} tet, is usually not aligned parallel to the ground, so that the line-like pattern M is first detected with a distortion which is caused by a relative to the horizontal plane of the Horizontsystems tilted and / or tilted image plane of the image acquisition unit. Ge ^¬ Mäss one embodiment of the invention is therefore provided to detect a detection of a tilt and / or tilt angle of a plane passing through a principal axis of the mobile terminal ground plane of the mobile terminal with respect to the Horizontalebe- ne and on the basis of the tilt and / or tilt angle Correction of the line-like pattern M or the pattern main axis MHA make.

In a following step, a determination of an overall rätversatzes GEV, which corresponds to an angular difference between a main axis of the mobile terminal MEG GHA and the pattern ^¬ major axis MHA at the designated position P is effected. This angular difference can be taken directly from a geographical determination of the line-like pattern M in the image plane of the detection unit or the pattern main axis MHA in the image plane of the detection unit. An angular offset of the pattern main axis MHA around the main plane lying in the image plane. GHA axis of the mobile terminal MEG corresponds to the Gerätver ^¬ set GEV.

In the drawing a wind rose consisting of the cardinal directions North N, South S, West W and East 0 is symbolized. These Windrose is merely illustrative of a Orientie ^¬ approximate direction. Furthermore, instead, a reference orientation RFO is considered, which coincides in the present example with the execution ^¬ north direction N. Alternatively, any other cardinal points S, W, 0 can be selected as the reference orientation RFO. Deviating from habits of a wind rose direction, a counterclockwise rotation corresponds to a positive angle, a clockwise rotation corresponds to a negative angle corresponding to the mathematical counting direction.

In a following step, a sample main axis offset MHV is retrieved as an angular difference between the master pattern axis MHA and a reference orientation RFO at the determined position P. The retrieval of corresponding data occurs either from a terminal-internal or an external data source, in the latter case by any wireless Interface of the mobile terminal MEG. Instead of a complex wireless data communication connection, this data can also be received by Bluetooth or

WiFi beacons may be included which are sent by local transmitters for orientation in the building. The data contains an indication as to which angular difference between the master pattern axis MHA of the linear pattern M and a reference orientation RFO, for example in the natural language: The joints in the space at the given position P are arranged 10 degrees west of the north direction. In the first case, that of an internal fetch data ge ^¬ Mäss an embodiment of the invention it is provided that the environment is detected with an initialization process. For example, a floor pattern will match the one on the mobile "Initialize" the initialization procedure carried out on the terminal MEG in order to generate corresponding data in the terminal-internal data source. As part of the initialization process, a request to the operator of the mobile terminal MEG be provided to align the mobile terminal MEG in a known orientation, for example, along a corridor. Even without measuring floor patterns, it can be assumed in many cases that the main lines of the floor pattern run parallel or at right angles to a wall of the room.

With existing internal terminal card data or externally supplied existing map data of a building for many rooms, the simple assumption "parallel or perpendicular to the wall" as a default assumption for floor lines, or more generally: line-like patterns M, used within a room ^¬ .

In an orientation determining unit ei ^¬ ne sum of the angles from the pattern principal axis offset MHV and the device offset GEV, which leads to the orientation LOCATION finally. Referring to the drawing, an orientation ORT of 35 degrees from the reference orientation RFO is determined from an angle sum of the pattern main axis offset MHV having a value of 15 degrees and the device offset GEV having a value of 20 degrees. The orientation of the mobile terminal MEG thus corresponds to a 35 degree direction in the northwest direction, according to one of the mathematical information given by reversed sign windrope information so - 35 degrees to the northwest.

For the pattern principal axis MHA, the major axis of GHA of the mobile terminal MEG and the reference orientation RFO are single ^¬ Lich their respective direction Horizon system of interest, while their respective length - in vectorial Be ^¬ case: the amount of which - is irrelevant. Alternatively, the axes MHA, GHA, RFO referred to herein may be referred to as a unit vector. Although the means according to the invention alone ensure an orientation determination of a mobile terminal, it is provided according to a preferred embodiment to combine the means for orientation determination known today with the agents according to the invention and in this way to refine and / or solidify the orientation determination. The currently known methods for orientation determination are performed using data supplied by magnetic sensors and / or inertial sensors. The preferred embodiment is in vorteilhaf ^¬ ter way, the disadvantages of this known Orientie ^¬ tion determination - ie in particular the above-mentioned disadvantages such as sensor drift, complex calculation of a Kreuzkopp ^¬ ment of orthogonal sensor axes, cumulatively with increasing time deviations, magnetic interference by power lines, etc. metal walls - to correct, refine and - ensure verläss ^¬ Liche orientation determination over longer periods of time - in view of the known effects of sensor drift.

In addition, the interaction with known orientation determination methods according to this preferred embodiment has the advantage of making an initially indefinite or ambiguous pattern main direction MHA unambiguously determinable by using the known "coarse" orientation determination methods in conjunction with the preferred embodiment Design to arrive at more precise and time-stable orientation data.

FIG. 2 shows a schematic representation of selected functional components in a mobile terminal according to an embodiment of the invention.

The mobile terminal includes not only a non MEG Darge ^¬ set - position determining unit for determining a position of the mobile terminal MEG imaging unit BEF, a control unit STE, wherein the determination unit BSE for determining the displacement device GEV, the Abrufein- unit ARE for retrieving the pattern main axis offset MHA and the orientation determination unit OBE of the position.

A mobile terminal MEG according to further embodiments also has other - not shown - functional units, such as a wireless ^{interface ¬} , another provided on the opposite side images ^¬ capture unit and internal terminal-internal memory. The functional units mentioned are either implemented within the control unit STE as software routines or as separate and cooperative hardware components.

In summary, the present invention comprises a method for orientation determination on a mobile terminal.

In this case, a determination of a position (P) of the mobile terminal (MEG), detection of an environment of the mobile terminal, extraction of line-like patterns (M) from the detected environment and determination of a pattern main axis (MHA) from the line-like patterns (M) , A device offset (GEV) as the angular difference between a major axis (GHA) of the mobile terminal and the master pattern axis (MHA) at the determined position (P) is determined. Further, a main pattern ^¬ axial offset (MHV) is the main axis as an angle difference between the pattern (MHA) and a reference orientation (RFO) at the designated position (P) retrieved. Finally, an angle sum is determined from the pattern principal axis offset (MHV) and the device offset (GEV).

Claims

claims

1. Mobile terminal, comprising

- A position determining unit for determining a Po ^¬ position (P) of the mobile terminal (MEG);

- at least one image capture unit (BEF) for detecting an environment of the mobile terminal, for extracting line-like patterns (M) from the detected environment and for determining a master pattern axis (MHA) from the line-like patterns (M);

- A determination unit (BSE) for determining a device offset ^¬ (GEV) as an angular difference between a main axis (GHA) of the mobile terminal and the pattern main axis (MHA) at the specific position (P);

- A retrieval unit (ARE) for retrieving a pattern main axis ^¬ offset (MHV) as an angle difference between the pattern main axis (MHA) and a reference orientation (RFO) at the specific position (P);

an orientation determination unit (OBE) for determining an angle sum from the pattern principal axis offset (MHV) and the device offset (GEV).

2. Device according to claim 1, characterized in that the at least one image capture unit (BEF) ge ^¬ genüber a display unit of the mobile terminal to ^¬ comprehensive side of the mobile terminal is provided.

3. Device according to one of the preceding claims, characterized in that the at least one Bildfas ^¬ sung unit (BEF) is provided on a comprehensive display unit of the mobile terminal side of the mobile terminal.

4. Device according to one of the preceding claims, characterized in that the orientation determination unit (OBE) is set up for processing further orientation information, in particular of magnetic sensors and / or inertial sensors supplied Orientierungsinformati ^¬ onen.

5. A method for orientation determination on a mobile terminal, comprising the following steps:

- determining a position (P) of the mobile terminal (MEG);

Detecting an environment of the mobile terminal, extracting line-like patterns (M) from the detected environment, and determining a master pattern axis (MHA) from the line-like patterns (M);

- determining a device offset (GEV) as the angular difference between a major axis (GHA) of the mobile terminal and the master pattern axis (MHA) at the determined position (P);

- retrieving a pattern main axis offset (MHV) as an angle ^¬ difference between the pattern main axis (MHA) and a reference orientation (RFO) at the specific position (P); and;

- Determination of an angle sum from the pattern main axis offset (MHV) and the device offset (GEV).

6. The method according to claim 5, characterized in that the pattern main direction (MHA) by a geometric center of gravity determination of the line-like pattern (M) is determined.

7. The method according to any one of the preceding claims 5 to 6, characterized by the following method steps

- Determining a tilt and / or tilt angle of a

by a main axis of the mobile terminal (MEG) durau ^¬ fenden ground plane of the mobile terminal relative to a horizontal plane; and;

- Making a correction to the line-like pattern M

and / or on the major axis pattern based on the MHA ermit ^¬ telten tilt and / or tilt angle.

8. Method according to one of the preceding claims 5 to 7, characterized in that the retrieval of the sample main axis offset (MHV) from a terminal internal and / or external data source.

9. The method according to claim 8, characterized in that for retrieving the Musterhauptachsenversatz (MHV) terminal internal and / or external map data of a building processing tet.

10. The method according to any one of the preceding claims 5 to 9, characterized in that for orientation determination further orientation information, in particular of magnetic sensors and / or inertial sensors supplied orientation information are used.

11. Computer program product with means for performing the method according to one of the preceding claims 5 to 10 when the computer program product to a mobile terminal device (MEG) is carried out.