EP1161285A1 - Golfnavigationsgerät - Google Patents
GolfnavigationsgerätInfo
- Publication number
- EP1161285A1 EP1161285A1 EP00914110A EP00914110A EP1161285A1 EP 1161285 A1 EP1161285 A1 EP 1161285A1 EP 00914110 A EP00914110 A EP 00914110A EP 00914110 A EP00914110 A EP 00914110A EP 1161285 A1 EP1161285 A1 EP 1161285A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- course
- game
- golf
- data
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/387—Organisation of map data, e.g. version management or database structures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
- A63B2024/0025—Tracking the path or location of one or more users, e.g. players of a game
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
- A63B2024/0056—Tracking a path or terminating locations for statistical or strategic analysis
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
- A63B2024/0068—Comparison to target or threshold, previous performance or not real time comparison to other individuals
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
- A63B2071/0636—3D visualisation
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B2071/0691—Maps, e.g. yardage maps or electronic maps
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/32—Golf
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/12—Absolute positions, e.g. by using GPS
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- A—HUMAN NECESSITIES
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- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/14—Geo-tagging, e.g. for correlating route or track location data with specific information related to that specific location
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- A—HUMAN NECESSITIES
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/16—Angular positions
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/18—Inclination, slope or curvature
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- A—HUMAN NECESSITIES
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- A63B2220/00—Measuring of physical parameters relating to sporting activity
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- A63B2220/00—Measuring of physical parameters relating to sporting activity
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/62—Time or time measurement used for time reference, time stamp, master time or clock signal
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- A—HUMAN NECESSITIES
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- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/803—Motion sensors
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
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- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/836—Sensors arranged on the body of the user
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/89—Field sensors, e.g. radar systems
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/19—Sporting applications
Definitions
- the invention relates to a golf navigation device for determining and displaying the position of a golf player on a golf course, which is portable and has a navigation device, a storage device, an input device and a display device, which are connected to a computing device.
- An orientation device with an input device, a display device, a memory device and a computing device connected to the aforementioned devices is described in WO 96/22132.
- Geographical features of the golf course are stored in the storage device.
- the device is designed as a range finder and, after manual entry of the position, determines the distance to a selectable geographical feature of the golf course, for example to the hole in a course or any other obstacle.
- a simple system for assisting a golfer with orientation and logging is known from US-A-5,319,548.
- the system comprises a computing device with a card printer and a reading device.
- a map of this course including the terrain topographical features, is printed out and given to the golfer;
- the golf player fills out this card by entering the respective tee-off location and the club used; at the At the end of a game, the cards are read into the computing device by means of the reading device and evaluated. The teeing grounds to be entered on the card must be determined by the golfer himself.
- Portable navigation devices which use a navigation system to determine a player's position on a golf course and display them on a graphic display device together with a selectable section of a map of the golf course and additional information, such as the distance to the target point of the course or to obstacles ( US-A-5, 438, 518, US-A-5,810,680, US-A-5, 507,485).
- a satellite navigation receiver which uses the global positioning system (GPS), is preferably used to determine the position.
- GPS global positioning system
- the golf navigation device according to US-A-5, 438, 518 has an exchangeable memory module in which a digitized map of the golf course is stored.
- a golf navigation system with a basic device and a plurality of mobile devices is known from WO 96/21161, the mobile devices having a storage device, an input device, a display device and a navigation device, which are connected to a computing device. Geographical features of the golf course including current positions of the holes in the courses are stored in the storage device.
- navigation systems for determining and displaying a position of a golfer on a golf course comprise a fixedly arranged base station and one or more mobile stations (WO-A-98/05978, US-A-5,689,431).
- the mobile station is arranged in a golf vehicle.
- To determine their position is next to one GPS receiver additionally provided a coupling navigation device, which evaluates the distances covered by the golf vehicle and their direction.
- Information about the location of the golf vehicle is transmitted to the base station by radio, information about the course to be played is transmitted from the base station to the mobile station by radio.
- the mobile station has a display device on which a selectable section of a map of the golf course can be displayed.
- further data for example the distance to the target point (hole) can be displayed on the display device.
- the mobile station can also be portable so that the golfer can carry it with him and read the display even in cases where the display in the golf vehicle could not be read from the tee-off location.
- a disadvantage of the known devices is that the accuracy of the navigation and the availability are inadequate. Due to their limited resolution, the GPS systems usually used as navigation devices in the prior art are too imprecise to enable a sufficiently accurate position determination even over short distances. This lack of accuracy is particularly noticeable in the fine area of position determination, for example when putting.
- the accuracy of GPS is not constant, but can be increased due to signal changes, without the user being informed about it.
- signal interference due to shadowing effects can occur, especially in non-level terrain, as is typical for golf courses, which further reduces the already not very high accuracy up to the failure of the navigation.
- An external system such as a reference station, can be used to increase accuracy. be provided, but this is very complex and such is often not available at foreign golf courses, which limits the local usability of the navigation device.
- the invention is based on the object of creating a device according to the preamble of claim 1 which enables better navigation.
- the navigation device in a golf navigation device of the type mentioned at the outset, has a relative position
- Determination device comprises, which has a motion sensor and is designed to estimate a distance covered by the golfer on foot.
- a motion sensor is understood to mean such a sensor that directly detects the movements of an object connected to it, in particular an acceleration or vibration sensor.
- a relative position determining device which, as described above, is designed to estimate a distance covered by the golfer on foot, is referred to as a footpath estimator for short.
- the motion sensor arranged directly on the golfer (user) according to the invention enables the input signals required for the footpath estimation device to be determined simply and reliably. This has the advantage that the position of the golfer is determined by means of dead reckoning, ie with a relative position
- Determination device and not with an absolute position determination device, such as the GPS, which is too imprecise in the fine range. Because, according to the invention, the measured variable of the The golfer's movements are direct, his position is determined directly and not, as in the case of the coupling navigation known from US-A-5, 689, 431, only the position of an accompanying wagon, in particular a user-carrying golf vehicle. According to the invention, it is therefore no longer necessary to use wheel sensors for measuring the distance, which on a wheel accompanying the user, e.g. B. a golf vehicle or a golf bag wagon, are arranged and thus ultimately only allow a determination of its position. This is particularly advantageous on golf courses, which are less suitable for driving due to their landscaping or, for example, due to steep inclines or slopes, are not suitable for carrying golf bag wagons.
- a storage device is understood to mean a device for storing data.
- the term encompasses both permanently installed and exchangeable memory devices, which are referred to below as a memory module or memory module.
- a navigation device is understood to mean a device which uses data obtained from sensors to determine the current position at which the golf navigation device or the golf player is located.
- a computing device is understood to mean a device in which data is processed. This also includes reading, writing and displaying data.
- a course of a game is understood to be an ensemble of positions on the golf course which the golfer has taken on the course of the course in the course of a game round.
- An actual game course is understood to mean a game course of the current or a previous game, which is written into the storage device during a game.
- a pattern game course is understood to mean a game course that is stored in the storage device independently of the user and serves as a reference.
- Shot data is understood to mean information relating to the hits, for example the location of the shot and the type of club.
- An absolute position is understood to mean a position that can be determined without knowledge of a previous position.
- a relative position is understood to mean a position, the determination of which requires knowledge of a previous position.
- An estimator is understood to mean a special computing device which determines a value of an unmeasured parameter from other measured parameters by means of an internal model.
- a step detector is understood to be a device for determining an event of a step (step event) when walking, for example putting on a foot.
- a cycle time is understood to mean the time required for a step, which is determined by two directly successive step events.
- the motion sensor is advantageously designed as an acceleration sensor.
- the accelerometer is set up for measurement in two directions, in particular in the longitudinal and vertical directions.
- measurement data are available in two mutually independent directions; this is advantageous for the evaluation, since it also allows the calculation of cross correlations in particular.
- the measurement data for the acceleration in the vertical direction make it possible to use a calculation method for the footpath estimation, which does not require the double integration of horizontal acceleration values, as is normally used.
- the movement sensor is expediently arranged in the region of the golfer's pelvis. This is based on the knowledge that between the movement of the human body, in particular certain elements of the human musculoskeletal system, there is a connection with parameters of walking, for example walking speed. This results in particular from the efforts of the human organism to minimize the energy expenditure required for the particular state of walking.
- the relative position determination device expediently has at least one further motion sensor which is arranged spatially separated and preferably has a wireless transmission device. Not all of the other sensors need to be arranged separately, some can also be arranged on the navigation device and some externally.
- the motion sensor can also be arranged directly on the golf player and the navigation device separately, for example on a golf pocket wagon.
- the further sensors can be driven on the golf or arranged on the golf pocket wagon and transmit measurement signals wirelessly to the golf navigation device carried by the golf player.
- the displacement measuring device can be designed as a simple sensor that senses the rotation of a wheel of the golf vehicle or of the golf bag wagon.
- a design as an inductively operating sensor that additionally provides electrical energy according to the dynamo-electrical principle is particularly expedient.
- the transmission device can transmit signals measured by the sensors or, in connection with a computing device likewise arranged externally with the sensors, transmit position data to the golf navigation device; The slight disadvantage of the additional computing device required is offset by the advantage of a significantly lower bandwidth requirement.
- the robustness towards interference in the transmission is greater, since in the event of a disturbance in the transmission of signals from the path measuring device, the distance is falsified, which impairs the accuracy of the relative positions subsequently determined by coupling navigation, while in the event of a disturbance in the transmission, a Position specification only this is wrong and the following ones are valid again (Knowing the wrong position can then be recognized and eliminated).
- a spatially separated sensor has an identification feature that can be transmitted by the transmission device.
- Such an identification feature has the advantage that measurement data, which are transmitted from the transmission device to the golf navigation device, can be assigned to the respective sensor thanks to the identification feature. This is particularly important if the course of a game of several golf players is to be recorded by a golf navigation device, since the respective position data of the individual players can then be assigned to them.
- a compensation device for sensors of the relative position determination device is also expediently provided, which compensates for measurement errors that arise in particular due to inclination.
- This is particularly advantageous for an angle measuring device of the relative position determining device.
- This usually has an angle measuring device in addition to the displacement measuring device.
- the angle measuring device is expediently a compass sensor which indicates the current direction in relation to the magnetic north direction.
- additional information regarding the local discrepancy is expediently stored in the map. To save storage space, they are advantageously stored as isogons.
- the following entries in the digital are comparable to nautical charts Card provided: rejection on a given date, annual change of rejection.
- the navigation device has an absolute position determination device in addition to the relative position determination device.
- the combination of these two determination devices has the advantage that position data determined independently of one another are available. In addition to greater reliability of position determination due to this redundancy, higher accuracy can also be achieved by data fusion. If necessary, the position data determined by the relative position determination device can be verified and, if necessary, corrected by the absolute position determination device. The availability of the position data is always ensured by the relative position determination device, even in the cases when the absolute position determination device is not working. This combines the advantages of both position determination devices: the data fusion allows the good long-term accuracy of an absolute position determination device to be combined with the good fine range resolution of a relative position determination device.
- Position determination device around a receiver which is suitable for receiving signals from the satellites of the Global Positioning System (GPS).
- GPS Global Positioning System
- the receivers are commercially available at low cost. It is particularly advantageous if it is a receiver suitable for differential GPS (DGPS), since together with a corresponding reference station emitting differential signals, a position determination accuracy which is significantly higher than that of normal GPS can be achieved.
- DGPS differential GPS
- the re- Ferenzstation is usually located in the clubhouse of the golf club. However, it is not absolutely necessary for the DGPS receiver that a reference station is always available; if this is missing, it works like a conventional GPS receiver.
- Another option for determining the absolute position is the bearing of landmarks whose location is known, in particular by means of cross bearing.
- the term cross bearing designates the bearing of two landmarks from the same bearing location. The intersection of the determined base lines is the location of the observer (direction finder).
- Such a cross bearing can be carried out with little effort with the golf navigation device according to the invention, since directional landmarks are stored in the digitized golf course map.
- a sample game course and / or a digitized golf course map is stored in the memory device.
- the pattern course of the game can be read out and displayed, which enables the golfer to compare his game and the game represented by the pattern course of the game.
- the pattern game course is expediently a game course with an exemplary character, such as was played by a golf instructor or a professional player on the respective course.
- This has the advantage that, with a pre-programmed pattern game course, a reference game course is available which is independent of the golf player using it and his performance, which enables the player to learn in a targeted and thus easier manner.
- the storage device advantageously comprises a Exchangeable memory module in which the digitized golf course map and / or the pattern of the game is stored. This can be provided by simply changing the memory module, another pattern game, z. B.
- the digitized golf course card is stored in the exchangeable memory module ensures that the golf navigation device is provided with a suitable golf course card as well as with a reference game course belonging to this golf course when changing to a different golf course by simply changing the memory module is.
- sample game course need to be saved, but also several for a golf course or also for several golf courses can be saved.
- different sample game courses can reflect different levels of difficulty, which means that the golfer can use a suitable sample game course as a benchmark depending on his skill level and progress.
- the pattern game courses can also relate to different golf courses, a model game course on a simple golf course can initially be used as a yardstick and, if the golf player is advanced, a course on a more difficult golf course.
- the device according to the invention is therefore a valuable means both for beginners and for advanced golfers in order to achieve further learning progress and / or to introduce them to unknown golf courses with their local characteristics.
- the golfer's strengths and weaknesses can be seen from the saved pattern of the game as a benchmark.
- This also has the advantage that the user gende golfer can conduct a kind of competition against the reference, that is, against the real or idealized golfer, whose course of the game is stored in the storage device as the model course of the game.
- the golf course map can be stored in any digitized form in the storage device. It advantageously has height information; in this case it is called a three-dimensional map.
- the information on the altitude can be stored relative to a reference point or stored absolutely relative to normal zero.
- the golf course map can also contain information on the height of obstacles.
- the golf course map can also have further information, for example the respective local magnetic discrepancies for the area shown in the golf course map.
- the golf course map is advantageously stored in a space-saving format, for example as a vector map.
- the golf navigation device replaces previously used logging devices, such as cards for recording the number of strokes or conventional stroke counters; it also provides additional functions.
- a selectable area of the golf course map, the pattern of the course of the game, an actual course of the game and / or the distance and the direction to a target point can expediently be optionally displayed on the display device.
- the display device is expediently capable of graphics.
- the selected area of the golf course map is then usually shown as a background and the current actual course of the game and the pattern of the course of the game are also shown.
- information on the distance and / or direction to the target point is shown in an area of the display device. This is usually the hole of the played course, the position of which can also be represented by the center of gravity of the green.
- the distance and / or direction to a freely selectable auxiliary target for example a striking landscape point or an obstacle, can be shown.
- a comparison device for comparing an actual game course with another or the pattern game course. Game progressions can be compared and displayed with regard to the course of the path and with regard to the additional information, for example with regard to the number of strokes required.
- the golf navigation device advantageously has a time measuring device.
- the comparison device can also include time-dependent data, for example the time required to play a course or the entire lap.
- the golf navigation device comprises a wind measuring device.
- the determined wind data in particular wind speed and wind direction, are applied to the computing device and can be used for calculations and can be stored as additional information with the actual course of the game.
- the wind data is entered by the user via the input device.
- the device according to the invention has an input device for marking a current ball position. For this purpose, a certain position can be marked on the golf course map and the device can be informed, for example by sensor or key entry, that the ball was or is lying at this position at a certain point in time. This function makes it possible to enter strokes afterwards if you forget to "tell” the device that a stroke is being made during the actual stroke.
- the input device expediently comprises a keypad for entering data, for example field data, and a cursor rocker, for example for selecting a target point.
- the invention also extends to a method for navigating a golf game with the steps of reading out an area of a digital golf course card from a storage device, offering a selection option between at least one pattern game course and / or an actual game course stored in the storage device, reading out a pattern Game progress from the memory device, determining the current position by means of a navigation device, storing an actual game progress in the memory cherINA and displaying and / or comparing the actual gameplay with the selected gameplay.
- the aforementioned steps of the method do not necessarily have to be carried out in the order mentioned, for example, the saving of an actual game history can also take place at the very end.
- the current position is expediently displayed continuously until a target point or the end of the game is reached.
- the method according to the invention has the advantage that, by reading out and displaying and possibly comparing with the pattern game pattern as a reference, the golfer is able to compare his current or a previous game (actual game pattern) with the reference (pattern game pattern). In this way, the golfer can analyze his playing technique, especially in difficult sections, taking into account his own previous actual game progress and the pattern game progress; the reproduction of your own past past game progress has the advantage that the golfer recognizes sections in which he repeatedly makes the same mistakes and how he can improve his technique with the help of the pattern game progress. Furthermore, the method according to the invention offers the possibility of a virtual competition.
- the current game of the golfer using the device according to the invention that is to say the actual course of the game, and, in comparison, a previous actual course of the game, which can originate from the same golfer or a clubmate, or the pattern of the course of the game, is shown on the display device.
- a kind of virtual competition can be carried out with an absent other golfer. If the pattern of the game is a game by a well-known professional golfer, he can Players try to re-enact such a "famous" game.
- the method expediently comprises querying a keystroke at the location of the tee (tee point). By pressing this button, the current position is adopted as the position of the tee-off location and a counting device for the number of strikes is incremented by 1.
- This query is advantageously combined with a query of a racket type. This has the advantage that, particularly for later statistical evaluations, the information is available as to which racket a certain stroke was played with.
- the query of a number of golf players and storage of the respective actual game patterns is also provided in an assigned area of the storage device.
- This has the advantage that the course of the game of several players can be logged without the need for relatively cumbersome and error-prone payment cards. Such reliable, automatic logging is particularly advantageous in competitions.
- the method expediently comprises the storage of
- Path data and additional information, in particular stroke data in the area of the memory device assigned to an actual game course are stored in the storage.
- the method expediently comprises querying or selecting a target point and displaying the distance the target point.
- the distance to the destination of the train is calculated and displayed.
- the target point is usually the hole of the course being played; the coordinates of the current position of the hole need not necessarily be used to determine it, but the center of gravity of the green can also be used for the determination.
- the selection can be made manually or automatically by determining the path currently to be played using the current position and reading out the coordinates of the target point.
- the direction to the target point is also expediently calculated and displayed; this is particularly advantageous for winding webs. This enables the golfer to reliably determine the distance to the target point without being dependent on aids such as distance tables that may be provided on the golf course. Knowing the distance to the target point is particularly important in order to enable the golfer to select the correct club from the set of golf clubs.
- an auxiliary destination is queried and the distance to it is calculated and, if necessary, displayed.
- the user When querying the auxiliary target, the user expediently moves a cursor to the point of interest using the input device on the golf course map shown and marks this as an auxiliary target; From this and from the current position, the distance and, if applicable, the direction are then calculated and displayed.
- the wind conditions are queried or read in by the wind measuring device. This is particularly expedient for the correction of measured stroke lengths, in particular if these are used for statistical purposes or for predicting a stroke distance to be expected with a specific club type.
- a plurality of actual game sequences are stored and collected in at least one area of the storage device.
- Such an area of the storage device intended for this purpose is referred to as a data pool.
- Several data pools are expediently provided. The data is collected and stored over a selectable point in time in an interval-related data pool. This allows the golfer to document his games one day; however, a longer period of time can also be selected so that the player can document a progress or regression of his playing technique. Optionally, the player can mark his best game in a certain place and keep it for later retrieval.
- the stroke data include in particular the type of club used and the distance reached; if necessary, the respective wind conditions can also be saved or the values to be saved can be corrected immediately by a correction factor determined accordingly from the wind conditions.
- the collection of this data has the advantage that for a player statistical parameters for the stroke distance depending on the individual club types can be created.
- the statistical parameters include, in particular, mean values, standard deviations and maximum and minimum values.
- This has the advantage that the game progress achieved by a player on different golf courses and the results can be stored and called up independently of one another.
- the player can, for example, call up the data of a previous game when visiting a golf course that has already been played on.
- This is of particular importance for the stroke data stored in relation to the respective club type, since depending on the local circumstances, different club lengths can occur with one and the same club type, for example as a result of different ground conditions. In this way, the experience already gained with a certain type of club on a certain golf course can be used.
- a prediction is calculated for a field distance to be expected with a club type. If available, the wind conditions are also appropriately taken into account. It is also advisable to read out other topological features from the golf course map and to include them in the calculation; this applies in particular to differences in height, for example when teeing off from an elevated location. For less experienced golfers in particular, it is advantageous if the expected range is calculated and calculated for different club types are displayed. Other topological features that may need to be taken into account in the calculation are, for example, the height of obstacles and the nature of the ground. In this case, it may be expedient if, in particular, obstacle data are read from the digitized golf course map and certain types of clubs are marked as less recommendable, for example if their striking distance suggests a landing of the golf ball in an obstacle area.
- the calculation models used for the calculation are advantageously modified by evaluating at least one data pool. This can be used, for example, to adjust the values of the stroke distance calculated in the context of the prediction, if the statistical evaluation shows that the average stroke distances achieved deviate on average from the predicted ones; this can be particularly important if other clubs are used than the ones you are used to or if there are changes in the person of the golfer, such as a hand injury.
- the method expediently comprises performing a data fusion of absolute and relative position data. As already mentioned, this can increase both the accuracy and the reliability of the navigation.
- a start and end point of at least part of a course of the game is expediently determined and stored using relative or absolute position data, the difference to a known position of the end point is determined and parameters for the coupling are modified. In this way, errors or deviations in the method for Calculation of dead reckoning can be reduced.
- the correction is expediently only carried out if the difference lies above a certain maximum permissible error amount.
- the corrected parameters for the coupling are expediently determined by means of a compensation calculation.
- a correction factor for determining the distance and a zero point deviation for the compass device are determined.
- a calibration mode is expediently provided for this purpose. This includes querying an orientation point, determining one
- Compass device Carrying out these calibrations has the advantage that the method for determining the relative position improves in a partially self-learning manner and thus enables improved position determination.
- a cross bearing of known landmarks can be determined with little additional effort to determine an absolute position as the starting point for the subsequent dead reckoning.
- a first landmark for example the flag of the hole
- the device can have an optical direction finder.
- the bearing is saved by pressing a button or the like.
- the measured standing line preferably appears on the screen.
- the method is then used to select and aim for a second known landmark, the second standing line including as far as possible a right angle with the first standing line to minimize the bearing errors.
- the golf navigation device determines the current location from the intersection of the two base lines.
- Such a bearing location can be particularly advantageous if another sufficiently precise absolute location method such as differential GPS is not available and a sole coupling location based on the tee is too imprecise, for example due to the fact that the player after a hit in the rough looking for the ball spins a variety of loops. Coupling location can also be inaccurate or impossible if the player uses a golf cart or alternately walks on foot and with the golf cart. Cross bearing can then be used to determine a new absolute location as the starting point for the additional dead reckoning.
- another sufficiently precise absolute location method such as differential GPS is not available and a sole coupling location based on the tee is too imprecise, for example due to the fact that the player after a hit in the rough looking for the ball spins a variety of loops. Coupling location can also be inaccurate or impossible if the player uses a golf cart or alternately walks on foot and with the golf cart.
- Cross bearing can then be used to determine a new absolute location as the starting point for the additional dead reckoning.
- a method for navigating by means of a relative position determination device comprising the steps of measuring acceleration values by means of a motion sensor arranged on a user, in particular a golfer, storing the acceleration values over a period of time and calculating Walking speed and / or walking distance of the user using a treasure model.
- This method is particularly suitable for determining the relative position in the method for navigation described above. It has the particular advantage that the distance covered can be determined as is necessary to carry out dead reckoning using the relative position determination. by measuring directly on the golfer's body. According to the invention, it is no longer necessary to use wheel sensors for measuring the distance, which on a wheel accompanying the user, e.g. B.
- a golf vehicle or a golf bag wagon are arranged and thus ultimately only allow a determination of its position.
- the movement of the human body and parameters of walking, for example walking speed.
- the claimed method essentially uses the measured acceleration values as motion signals; the above-mentioned relationship between kinetic energy expenditure and walking speed or distance is implemented in the estimation model according to the invention.
- the method also has the advantage that, due to the essentially dynamic movement signals, disturbing variables which act statically, such as an inclined background, are insignificant or only of minor importance and, moreover, they can be easily separated and determined from the measurement signals.
- the method advantageously comprises measuring the acceleration in two independent directions, in particular longitudinal and vertical accelerations.
- the measurement data resulting from two independent directions are advantageous for the evaluation, in particular when calculating cross-correlations.
- the method for calculating the walking speed or walking distance preferably comprises a first polynomial approach with a correlation of variances of the acceleration values for calculating the walking speed or the stride length.
- the variances of the vertical acceleration are preferably correlated over one step.
- a second-order or higher-order polynomial is usually suitable for calculating the walking speed; a first-order polynomial is sufficient for calculating the stride length.
- the method expediently comprises determining a cycle time of a step. This is particularly important for estimating a step size, since walking speed and step size are linked with each other over the cycle time.
- the method expediently calculates an estimate for the step size from an average value of the walking speed and the cycle time. It can be advantageous if an average step size is calculated by averaging the step sizes of both legs.
- the method expediently further comprises estimating an incline of the walking distance, in particular by using a second polynomial approach by correlating mean values of the acceleration values.
- the mean value of the vertical acceleration is preferably correlated.
- the method comprises estimating a stair slope and a uniform step length by using the mean values and variances of the acceleration values.
- the consideration of a uniform step length takes into account the fact that stairs usually consist of an arrangement of steps with a fixed step height and step length. Since the uniform step length can be calculated from more measurement data than would be possible for individual steps, the calculation is more precise; furthermore, errors due to differing lengths of individual stages are eliminated.
- the method expediently comprises detecting walking / running. This is important because models for estimating walking distance and speed are often not suitable for estimating running movements. In order to avoid that the results of the walking estimator model are falsified due to running movements, it is advantageous if the method detects the type of movement. If a running phase is recognized, a switch can be made to a special running estimation model or at least the walking estimation can be suspended and a warning can be issued to the user. This can prevent mismatching of self-adapting parameters induced by running. For a redetermination of the coupling position which may be necessary at the end of a running phase, the absolute position determining device, e.g. B. the direction finding described, useful.
- Walking is understood as a type of movement in which there is a phase during which both feet touch the ground at the same time (so-called double-stance phase).
- Running is a type of movement in which this phase is replaced by a flight phase.
- An expedient method for detecting running / walking is to calculate the variances of the acceleration values, in particular over the cycle time, and to compare them with previous values of the variance.
- the values of the variance are preferably preprocessed by means of a smoothing process.
- Another expedient method is to determine the range of the values for the acceleration. This is based on the knowledge that the span is considerably greater when running than when walking. It is often sufficient not to determine the type of movement directly, but only to detect a change. The aforementioned methods then only need to determine an abrupt change in the relevant parameter.
- a sudden climb is a sign of a transition to running; accordingly, a sudden drop is a sign of the transition to walking.
- Another expedient method for detecting running / walking is to use a power density spectrum
- acceleration values can be used to determine whether the pelvis is carrying out movements to reduce the metabolic expenditure or not.
- a preferred parameter for this is the power density spectrum of an acceleration direction, in particular whether there is a significant secondary maximum in addition to a main maximum.
- a proven parameter for the aforementioned methods for detecting walking / running is the acceleration in the vertical direction; however, other directions of acceleration can also be used.
- the method advantageously further comprises detecting a discount from the acceleration values in order to determine the discount location. If a discount is recognized, the current position data determined by the navigation device are stored as the discount location.
- This has the particular advantage that the user is exempt from entering the tee-off location, for which a keystroke at the respective tee-off location is otherwise required, since the tee-off can be detected from the acceleration values, the current position being stored as the position of the tee-off location becomes. This eliminates the cumbersome and easy to forget entry of the tee point; this also makes the automated counting of the number of blows more reliable.
- the invention can advantageously also be used for users other than golfers and is not restricted to golfers as users.
- Fig. 1 is a block diagram of the device according to the invention
- 2 shows a schematic view of an area of a golf course with the device according to the invention and components of the GPS system
- 3 shows a view of a front of the device according to the invention
- FIG. 4 shows a view of a rear side of the device according to the invention
- 5 shows a block diagram of a sensor arrangement
- FIG. 6 shows a block diagram of an alternative sensor arrangement
- FIG. 7 shows a flow chart of the method according to the invention
- 8 shows a flow chart of an operating mode of the method according to the invention
- 11 shows a flow chart of the walking estimator for determining the cycle duration
- 12 shows a flow chart of the walking estimator for determining cyclic parameters
- 13 shows a diagram with values of variances of the vertical acceleration versus walking / running speed
- FIG. 14 shows diagrams with values of power density spectra of vertical accelerations
- FIG. 15 shows a flow chart of the walking estimator for determining the distance
- 16 is a flow chart of a calibration of the compass.
- the central device 1 shows an embodiment of a central device 1 of the golf navigation device according to the invention.
- the central device 1 shown has in a main housing 2 a computing device 3 and, connected to it, a GPS receiver 4, a storage device 5, a display device 6, an input device 7, an energy supply device 8 and a radio modem 9 as a transmission device.
- the central device 1 can optionally have a data transmission connection 31.
- the GPS receiver 4 receives signals with position information from an antenna 41.
- the signals belong to a global positioning system (GPS).
- FIG. 2 shows how the golf navigation device according to the invention interacts with the GPS and the environment.
- the golf course is exemplified by a course 11 with a tee point 12 and a target point in a green 13 of the course 11.
- the central device 1 of the golf navigation device is located on the lane 11 in the vicinity of the tee point 12.
- a GPS satellite which is designated by the reference number 42.
- the position of the golf navigation device on the course 11 of the golf course is determined by the GPS receiver 4 from radio signals 44 which are emitted by the GPS satellites 42 and possibly the reference station 43.
- the position of the golf navigation device thus determined is transmitted from the GPS receiver 4 to the computing device 3 as an absolute position signal. If necessary, a quality signal can also be transmitted, which is a measure of the current accuracy of the position determination of the GPS system.
- the memory device 5 comprises an exchangeable memory module 51 and a permanently installed memory module 52.
- the memory module 51 is preferably as a read-only memory, such as an EPROM or EEPROM;
- a digitized map of the golf course is stored therein, which has information about the courses 11, the teeing grounds 12 and the greens 13 of one or more golf courses.
- the map may also contain information regarding the position of the hole 14 and information about obstacles (not shown) such as water surfaces, sand bunkers or scrub meadows.
- the map also includes elevation information, if available.
- the digitized golf course map is expediently stored in the form of a vector graphic; Compared to a simple bitmap graphic, this has the advantage of reduced storage space requirement and arbitrary scalability, ie any section of the digitized golf course map can be displayed in a freely selectable magnification.
- a pattern game course is stored in a non-volatile area of the memory module 51. This is expediently such a course of the game as was played on this golf course by a person of exemplary character, for example a golf instructor or a professional player.
- the pattern of the game comprises path information from a plurality of position data as well as additional information, in particular stroke data with regard to the number of strokes required, the types of clubs used and the stroke distances achieved thereby.
- the memory module 52 is a read / write memory in which one or more actual game sequences and other information are stored by the computing device 3.
- the display device 6 It is connected to the computing device 3. It is graphics-capable so that a selectable area of the digitized golf course map can be displayed. Further the position of the golfer determined by the computing device 3 using absolute and relative position data is shown on the display device 6. Furthermore, the current actual course of the game and the distance and direction from the current position to the target point of the played track are shown on the display device 6 as well as in a separate area. The number of strokes required, the par for the course and the total number of strokes required for the previous round of play are also shown. Furthermore, an auxiliary target cursor can be shown, which can be moved by the golf player over the displayed region of the golf course map, the distance and direction from the current position to the auxiliary target being displayed in each case.
- the display device 6 is arranged on the front of the main housing 2 in an upper area.
- the input device 7 is provided for the input of data by the user. It comprises switches and buttons 71 which are arranged on the front of the main housing 2 in a lower area. In the exemplary embodiment shown in FIG. 3, this includes a key 73 for calling up the menu bar, a key 74 for confirming, a key 75 for manually increasing the counter reading of player 1, a key 76 for manually increasing the counter reading of player 2, a key 77 for marking a position and an operating rocker 78 with four directions (up, down, left and right) for selecting menu items.
- a touch input device 72 is preferably arranged on the display device 6, by means of which the location of an auxiliary target can be determined in an intuitively easy-to-understand manner by touching a corresponding point on the displayed area of the golf course map.
- the touch input device 72 can also be used for further input functions are used (e.g. marking the current ball position); on the other hand, it is not absolutely necessary, the auxiliary destination could also be entered via the actuation rocker 78.
- the energy supply device 8 comprises an accumulator 81 as an energy store, which supplies the devices of the central device 1 with electrical energy.
- a charging circuit 82 is provided, which draws electrical energy from a solar cell 83 arranged on the outside of the main housing 2.
- a charging connection 84 is provided for connecting an external energy source, which is connected to the charging circuit 82.
- the radio modem 9 is connected on the one hand to the computing device 3 and on the other hand to an antenna (not shown). It is part of a transmission device for receiving measurement data from a spatially separated sensor arrangement 100, 200. Furthermore, the radio modem 9 transmits commands to the external sensor arrangement 100, 200.
- a data connection 31 for exchanging data with external data processing devices is connected to the computing device 3. Via this data connection, for example, the actual game sequences can be read out from the memory device 5 and transmitted for external evaluation. Furthermore, the digitized golf course map stored in the storage device 5 can be updated via the data connection 30.
- a serial data transmission method as is known for example as RS 232 C, is preferably used with this data connection 30.
- the data connection 30 is a plug for connecting a data transmission cable (not shown), however, it may as well be an infrared communication port.
- the display device 6 is arranged in the upper area of the front side and the input device 7 is arranged on the front side in the lower area.
- the GPS antenna 41 is arranged on the upper edge of the golf navigation device.
- At the rear of the main housing 2 there is a compartment 85 for receiving the accumulator 81 or batteries (not shown). Furthermore, insertion shafts for inserting and removing the exchangeable memory module 51 and optionally the memory module 52 are provided on the rear.
- the data connection 30 and the energy supply connection 84 are arranged on a long side of the main housing 2.
- FIG. 5 shows an embodiment of the sensor device 100 arranged spatially separated.
- the external sensor arrangement 100 is fastened to the body of the golfer in the region of his pelvis by means of a suitable holding device, for example a clip.
- a suitable holding device for example a clip.
- a sensor housing 102 Arranged in a sensor housing 102 are a second computing device 103, an accelerator 104, preferably three-axis with one axis pointing downward, a magnetometer 105, preferably three-axis, an inclinometer 106, preferably two-axis, a second energy supply device 108 and a second radio modem 109.
- the second computing device 103 has an analog-to-digital converter which is connected to the accelerometer 104, the magnetometer 105 and the inclinometer 106.
- the second energy supply device 108 is connected to the devices that require electrical energy; for their care a second solar cell 110 is provided on the outside of the sensor housing 102.
- the second radio modem 109 transmits the measured signals and processed by the second computing device 103 to the radio modem 9 of the central device 1; it also serves to receive commands from the central device 1.
- FIG. 6 shows a second exemplary embodiment of an external sensor arrangement 200.
- a third computing device 203, a rotation sensor 204, a second magnetometer 205, a second inclinometer 206, a third energy supply device 208 and a third radio modem 209 are arranged in a sensor housing 202.
- the third computing device 203 has an analog-to-digital converter which is connected to the rotation sensor 204, the second magnetometer 205 and the second inclinometer 206.
- the third energy supply device 208 is connected to the devices that require electrical energy; To supply them, a third solar cell 210 is provided on the outside of the sensor housing 202.
- the third radio modem 209 transmits the measured signals and processed by the third computing device 203 to the radio modem 9 of the central device 1; it is also used to receive commands from the central device 1.
- the external sensor arrangement 200 is attached to a golf vehicle or to a golf pocket wagon, the rotation sensor 204 being connected to one of its wheels. Furthermore, a dynamo 207 is connected to one of the wheels, which is connected to the third energy supply device 208 for additional supply.
- the rotation sensor 204 and the dynamo 207 can be assembled, the rotation sensor 204 preferably using signals from the dynamo 207.
- the golf navigation device is used as follows (Fig. 7). Before commissioning, a memory module with the pattern of the game and the digitized golf course map must be inserted.
- an initialization 31 takes place, in which the data of the digitized golf course card are read from the storage device 5 into the computing device 3. After a short time, position data from the GPS receiver 4 are available. The start of the game can then be initialized with this position data, ie the golf course and the course to be played can be determined 32; If this is not possible, for example, due to the lack of position information, a user input 33 can also be made. A section of the digitized golf course map is shown on the display device 6, as a rule it is the representation of the course 11 being played. The start of the actual course of the game and the data acquisition is the associated discount 12 of the course 11. In the display device 6 a selection 342 for an operating mode "virtual competition" is offered in 34.
- an input 343 of the user is queried. If this is negative, the game is continued in an operating mode 35; if this is positive, the operating mode "virtual competition" continues with the following steps shown in FIG. 8.
- a selection menu of the opponent selection is displayed 344, which offers the sample game course or an already saved actual game course. The user is prompted 345 for input. If the first-mentioned alternative has been selected, the pattern game sequence is read 346 from the exchangeable memory module 51 and the display 349 of the game sequence read is continued. If the second alternative is selected, as long as a number of actual game sequences are stored, the display 347 and a selection are carried out this. The selected actual gameplay is read 348 from the memory chip 52 and the method continues to display 349 the gameplay. The mode "game" 35 is then continued.
- the target point is queried 351.
- this is the hole 14 of the played course 11;
- an area center of gravity of the green 13 can therefore also be determined using the digitized golf course map and taken as the target point.
- the representation of the predicted stroke distances enables the golf player to judge whether the selected club type is suitable or rather unsuitable because for example, the ball is expected to land in an obstacle area.
- he can use the touch input device 72 or the actuation rocker 74 to determine an auxiliary target on the displayed region of the golf course map, to which the distance and direction from the current position are then displayed. For example, if there is a water surface to be crossed in front of the golfer, all he has to do is tap the rear edge of the water surface on the touch input device 72, and the central device 1 determines the distance and direction from the current position to the selected point and displays it; based on this information, the golfer can Select your club type.
- the golfer goes to the new location of the golf ball and marks this location by pressing 356 the corresponding key 77.
- the new position of the golf ball is determined and saved.
- the distance to the tee-off location is calculated and displayed, the ball path is stored and displayed, the number of hits is increased by 1 and the shot data is stored.
- query 359 as to whether the target point (hole) has been reached, the process is repeated from query 352 of the club type until the hole is finally reached.
- the part of the actual course of the game determined for this path is saved 360 with the path and stroke data.
- the coupling location is then calibrated 361.
- the operating mode "game” 35 is repeated for all the lanes of a game.
- the data acquisition is complete and is then continued in an “evaluation and comparison” mode 37.
- the computing device 3 uses position data from the GPS receiver 4 as absolute position data and measurement signals from the external sensor arrangement 100 transmitted by the radio modems 9, 109. Alternatively, measurement signals from the external sensor arrangement 200 can also be used via the radio modem 209. With the signals coming from the external sensor arrangement 100 or 200, the computing device 3 performs a dead reckoning, ie it determines relative position information.
- An absolute position specification is used as the starting position, this can come from the navigation device 4 or from the storage device 5 with the digitized golf course map, when a position stored there, such as the tee point, is used as the starting point.
- the computing device 3 determines the current position from the absolute position information determined by the GPS receiver 4 and the relative position information calculated using the dead reckoning; for this purpose it uses data fusion techniques as are known per se. For example, if GPS navigation fails, the current position is determined using dead reckoning based on the last measured GPS position. It is not absolutely necessary that the
- Dead reckoning for calculating the relative position is carried out in the computing device 3; this can also be carried out in the external computing device 103, 203.
- This has the advantage that only the position data and not the measurement data of the sensors which require more bandwidth have to be transmitted via the radio modems 9, 109, 209.
- the position determination is also more reliable as a result, since undetected transmission disturbances in the transmission of measurement data result in an incorrect measurement and thus in an incorrectly determined position, while a transmission disturbance in the transmission of a position can be recognized more easily.
- a daily data pool a personal total data pool and a space-related data pool are provided.
- the daily data pool is used for documentation, ie the current actual course of the game is stored in it for the qualitative evaluation by display in the display device 6. In particular, it contains the field data with the club types and the positions of the tees.
- the personal total data pool is used for analysis and prediction. For this purpose, a large number of stroke data are stored for a player. chert. Samples can be drawn from these for evaluation and prediction. It contains in particular the stroke lengths achieved with a club type for predicting the shot distance to be expected with this club type.
- the lay lengths used for the prediction are corrected for the influence of wind. This can be done in such a way that the measured field length is corrected depending on the influence of the wind and is stored in this way, or the measured field length is stored together with the wind data so that the correction is only made when the prediction is made.
- the place-related data pool is used for documentation, that is, for documentation of all games on a certain place in a manner that then allows a graphical representation of the game progress on the display.
- the number of blows are each
- the data pools are evaluated in the following way.
- the daily data pool enables a count evaluation, ie the number of strokes in a game round, a result evaluation depending on the respective counting method (gross result) and a result evaluation depending on a handicap (net result).
- the net result is calculated by subtracting the handicap (default) from the gross result.
- other counting methods are used, especially in tournaments.
- Statistical parameters such as mean value, standard deviation, variance, maximum and minimum value, are formed from the personal total data pool for the stroke distance depending on the club type.
- the statistical information certainty is determined, ie the confidence interval for the prediction. From the space-related data pool, the best and worst games can be based on the entire space and / or individual tracks can be called up and displayed.
- a place statistic can also be created, for example with average values for the lay length per lane or maximum or minimum lay length per lane and lap. Furthermore, a prediction of the lay length can be made, which can also be referred to as "inverse lay length calculation”. Based on the distance to the target point or an auxiliary target, a club recommendation is determined taking into account the range to be expected with the individual club types and displayed on the display device 6.
- a calibration of the dead reckoning In a first step 362 it is detected whether the target point of a path 13, ie usually the hole
- a subsequent step 363 the distance between the position of the target point known from the digitized golf course map and the current position is determined.
- a subsequent step 364 it is determined whether the distance is greater than an allowable maximum deviation. If this is the case, an optimization calculation is carried out in a subsequent step 365, by means of which correction factors for the distance are determined 366 and an offset of the magnetometer 105, 205 is determined. An optimization calculation 367 for modifying parameters of a model and polynomial coefficients is then carried out. The direction determination is also modified 368 by means of the offset of the compass sensor 205.
- optimization parameters can be: errors in the step length estimation, errors in the compass.
- Good practices include: load
- the operation of the walking estimator is shown in FIGS. 11 to 15.
- the calculations and steps explained below are carried out by the computing device 3 in order to determine the walking distance and walking speed from the acceleration data measured by the external sensor arrangement 100 by means of the acceleration sensor 104.
- the calculations can also be carried out in the external second computing device 103.
- the values ax of the accelerations in the horizontal direction and az in the vertical direction are recorded, fed to an anti-aliasing filter 111, which has a kink frequency of 5 Hz or higher, and then with an analog / digital sample frequency of preferably at least 20 Hz - undergone conversion 112.
- Accelerator 104 preferably has a coordinate system that is rigid to the user; However, it should not be excluded that an earth-fixed coordinate system is used.
- the output values are each stored in a separate memory area 113, 114 for ax or az stored over a frame time of one second.
- a step event 115 one searches for an extremum in the stored acceleration values of preferably ax, which stands for example for putting on the left heel, then searches for a subsequent extremum that stands for putting on the right heel in the selected example, and finally another Extremum wanted, which in turn stands for a placement of the left heel.
- the cycle time is determined 116 by calculating the time difference between the times for the successive placement of a heel.
- FIG. 12 shows how further statistical variables are determined using the cycle time.
- Acceleration values ax, az are read 121 from the assigned memory areas 113, 114 for the duration of a cycle time.
- Average values 122 of acceleration values ax, az and acceleration az are determined by averaging 122 of the read acceleration values ax, az.
- variance 123 By forming variance 123 over the cycle time, variances of the acceleration values ax and az are determined.
- the variance of the acceleration values az is used as a parameter.
- the values of the variance which are cyclical via a walking step, are smoothed by means of a low-pass filter.
- the values are saved so that past values are available for the variance of the acceleration values.
- the current value for the variance of the acceleration az is compared with the past values; with a rapid increase in the variance value, a binary selection signal that corresponds to a state indicates walking or running, switched to a HIGH state when rapidly falling to a LOW state, otherwise the state of the signal remains unchanged.
- a signal or signals can also be provided which indicate a change in state.
- a model for the walking estimator can be deactivated at least partially, in order to avoid misjudgments by the model formed only for estimating walking movements. This is preferably done by applying the selection signal as an inhibitor signal in the optimization calculation 367. If a model for estimating running movements (running estimator) is available, this signal can be used to switch to the running estimator. 13 shows examples of the variances of the acceleration az over the speed v when walking 131 and running 132.
- the detection of running or walking can also be carried out by determining the range of values from the acceleration values az.
- the minimum and maximum values of the acceleration az are preferably smoothed by means of a low-pass filter and the respectively current acceleration values are compared with the smoothed values. If the range is within a range typical for walking, the selection signal is brought into its LOW state; if the range is out of range, the selection signal is brought to a HIGH state.
- Typical parameters for the ranges are for walking -12 to -5 m / s 2 at a speed of 1.8 m / s and for running - 16 to 0 m / s 2 at a speed of 3.0 m / s .
- running or walking can be detected by determining the power density spectrum of the vertical acceleration az.
- the power density spectrum is calculated.
- significant secondary maxima occur when walking; they largely disappear when you run.
- Acceleration az can be used as a parameter for the movement of the pelvis.
- the main maximum is determined in the power density spectrum and a secondary maximum of the first order is sought. Such is considered to be present when its value reaches 2% of the value of the main maximum. If the secondary maximum is not present, the selection signal is brought into its HIGH state.
- Methods for calculating the power density spectrum are known; Inexpensive modules are also available in which such a calculation is implemented.
- 14a and 14b show examples of a normalized power density spectrum when walking 143 (with secondary maximum 144) and when running 145.
- the slope detection step 151 uses the correlation of the average value data of the acceleration az using a polynomial approach, preferably at least 2nd order, from one Regression. If no slope is detected, the variance and mean value data of the accelerations ax, az are processed in a step detection step 152 and a fixed step length 153 is determined in the process. If no stairs are recognized, a level is assumed 154 and the coefficients 85 are determined in a further step.
- an average walking speed is determined from variance data of the acceleration az.
- the walking distance can be determined from the walking speed thus determined and the cycle time already determined.
- the stride length of a leg can be determined by multiplying the average walking speed by the cycle time; an average stride length is calculated by reporting the stride lengths of both legs.
- the total walking distance is calculated by adding up the stride lengths. If it was calculated in the external second computing device 103, the walking distance 3 is transmitted via the radio modems 9, 109 to the computing device 3 for further processing in the relative position determination by means of dead reckoning.
- the modeling described for FIG. 15 is a good possibility of several.
- a simple, albeit somewhat less precise alternative has the following steps: First, the duration of a step is determined; B. from accelerations; however, it can also be determined from the noise of the inclination sensor, since it has its own dynamic and reacts to body movements. Second, the stride length is determined from a linear model. This corresponds to the polynomial model in FIG. 15, the cycle duration being used as a parameter.
- this alternative is not optimal with regard to the results achieved, it is generally sufficiently precise and less expensive since sensors can be saved. In particular, a 1st order polynomial, for example a regression line, can be used.
- Suitable input parameters for the polynomial of the walking estimator are in particular (with decreasing quality) the variance az, the cycle duration, the variance ax, the maximum value ax, the variance of an acceleration ay measured horizontally across the walking direction and the maximum value of az.
- a shock event can also be determined from the stored acceleration values ax, az. H. when the golfer tees off.
- the detection of the beat event is basically similar to the detection of a step event shown in FIG. 11; however, more complex statistical methods than a simple maximum determination can also be provided.
- the position which the golfer is currently in at the time of the stroke event can then be stored as a tee-off location in the storage device and the corresponding data pools, without the golfer having to enter the input device 7, since the tee-off location detected in this way is usually identical to the new ball location of the previous stroke, which was previously marked by pressing key 77. This means that there is no need to press a button on every tee or when the new ball position is reached, which on the one hand simplifies the use of the golf navigation device and on the other hand achieves greater reliability, in particular in the stroke counting.
- 16 shows a manual calibration of the compass. This is necessary because the compass usually sits firmly in the housing, for example of the sensor clip 100. Such a clip can be attached anywhere on the user's belt. Therefore, the user's walking direction and the compass's sensor axis generally do not match.
- the calibration procedure described below is provided so that the user can carry out the calibration. It is expediently called up via a menu item in the initialize step 31. First, the course 11 to be played is shown 161 on the display device 6. Subsequently, 162 an orientation point is queried, which is a prominent one that is visible from the tee
- Point acts; generally this is the flag at hole 14 of the lane 11 to be played.
- Query 162 comprises marking the selected orientation point on display device 6 by actuating actuation rocker 78. After the user has turned his body in the direction of this orientation point, the viewing direction 166 is determined 163 from the knock-off location known from the map and the marked orientation point 163. The viewing direction 6 and the compass course are expediently shown 164 on the display device 6. User inputs are then made queried 165, with which the compass heading shown is rotated to cover 166. The angle of rotation required for this corresponds to the compass error. This value is saved and used to correct the compass values during the coupling location.
- a representation of the calibration mode on the display device 6 is shown in FIG. 17.
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Automation & Control Theory (AREA)
- Databases & Information Systems (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Instructional Devices (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP00914110A EP1161285A1 (de) | 1999-03-05 | 2000-03-06 | Golfnavigationsgerät |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP99104494 | 1999-03-05 | ||
EP99104494A EP1034818A1 (de) | 1999-03-05 | 1999-03-05 | Golfnavigationsgerät |
PCT/EP2000/001926 WO2000053271A1 (de) | 1999-03-05 | 2000-03-06 | Golfnavigationsgerät |
EP00914110A EP1161285A1 (de) | 1999-03-05 | 2000-03-06 | Golfnavigationsgerät |
Publications (1)
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EP1161285A1 true EP1161285A1 (de) | 2001-12-12 |
Family
ID=8237711
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EP99104494A Withdrawn EP1034818A1 (de) | 1999-03-05 | 1999-03-05 | Golfnavigationsgerät |
EP00914110A Withdrawn EP1161285A1 (de) | 1999-03-05 | 2000-03-06 | Golfnavigationsgerät |
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EP99104494A Withdrawn EP1034818A1 (de) | 1999-03-05 | 1999-03-05 | Golfnavigationsgerät |
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US (1) | US20020038178A1 (de) |
EP (2) | EP1034818A1 (de) |
AU (1) | AU3554000A (de) |
WO (1) | WO2000053271A1 (de) |
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- 2000-03-06 WO PCT/EP2000/001926 patent/WO2000053271A1/de not_active Application Discontinuation
- 2000-03-06 AU AU35540/00A patent/AU3554000A/en not_active Abandoned
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Also Published As
Publication number | Publication date |
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EP1034818A1 (de) | 2000-09-13 |
US20020038178A1 (en) | 2002-03-28 |
AU3554000A (en) | 2000-09-28 |
WO2000053271A1 (de) | 2000-09-14 |
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