FI127640B - Method and system for determining a direction of movement of an object - Google Patents

Method and system for determining a direction of movement of an object Download PDF

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Publication number
FI127640B
FI127640B FI20175966A FI20175966A FI127640B FI 127640 B FI127640 B FI 127640B FI 20175966 A FI20175966 A FI 20175966A FI 20175966 A FI20175966 A FI 20175966A FI 127640 B FI127640 B FI 127640B
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FI
Finland
Prior art keywords
orientation
cyclically moving
movement
moving part
geomagnetic
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Application number
FI20175966A
Other languages
Finnish (fi)
Swedish (sv)
Other versions
FI20175966A1 (en
Inventor
Tuomas Hapola
Heikki Nieminen
Mikko Martikka
Erik Lindman
Original Assignee
Amer Sports Digital Services Oy
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Amer Sports Digital Services Oy filed Critical Amer Sports Digital Services Oy
Priority to FI20175966A priority Critical patent/FI127640B/en
Priority to TW107136736A priority patent/TWI680277B/en
Priority to US16/168,953 priority patent/US10555127B2/en
Priority to DE102018008402.8A priority patent/DE102018008402A1/en
Priority to CN201811273073.2A priority patent/CN109725284B/en
Application granted granted Critical
Publication of FI127640B publication Critical patent/FI127640B/en
Publication of FI20175966A1 publication Critical patent/FI20175966A1/en
Priority to US16/693,416 priority patent/US10708723B2/en
Priority to US16/884,118 priority patent/US10999709B2/en
Priority to US17/224,246 priority patent/US11743687B2/en
Priority to US17/343,913 priority patent/US20210306811A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/02—Magnetic compasses
    • G01C17/28—Electromagnetic compasses
    • G01C17/32—Electron compasses
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

According to an example aspect of the present invention, there is provided a method for determining the direction of movement of an object (2), the method comprising determining a cyclical motion of a cyclically moving part of the object (2) by recording acceleration data of said cyclically moving part over a plurality of cycles using an accelerometer (13) or inertial sensor attached to said cyclically moving part, integrating said acceleration data over at least one cycle of movement to determine a tilting of said cyclically moving part of the object (2) relative to the horizontal plane, measuring an external magnetic field of said cyclically moving part of the object (2) using a magnetometer (12) to determine an orientation of said cyclically moving part of the object (2) relative to the external magnetic field, determining the direction of movement (3, 4, 5) of the object (2) based on the tilting and the orientation of the cyclically moving part of the object (2).

Description

METHOD AND SYSTEM FOR DETERMINING A DIRECTION OF MOVEMENT
OF AN OBJECT
20175966 prh 25 -09- 2018
FIELD [0001] The present invention relates to a method for determining a direction of movement of an object.
[0002] Further, the present invention relates to a system for determining a direction of movement of an object.
[0003] Furthermore, the present invention relates to a non-transitory computer readable medium.
[0004] In particular, embodiments of the present invention relate to sensor technology in mobile devices, i.e. more specifically to processing ofinformation provided by a multitude of sensors. The invention particularly relates to improving the accuracy of a 15 position indication measured with the aid of a mobile device or system. The mobile device may be, for example, a wristop computer, a mobile telephone or any other portable device.
BACKGROUND [0005] The signal from a GPS (Global Positioning System) sensor or other satellite20 based navigation system located in a device carried by a person on the wrist or elsewhere on the body, has a very small bias error, i.e. a systematic error, but contains a great deal of noise. At a measurement frequency of 1 Hz with the person walking or running, the noise in a purely GPS-based speed measurement can be in the order of 20 - 30 %, compared to the pure GPS signal.
[0006] Direction or speed data measured and estimated from sensors carried directly on the body of a person, contains usually less noise. However, large bias errors may be present in these measurement signals.
20175966 prh 25 -09- 2018 [0007] Sensor fusion means that first and second sensors may be based on different operating principles, but they are measuring the same physical variable. For example, horizontal speed can be measured using a satellite-positioning sensor or an acceleration sensor. Sensors that can be used in sensor fusion may be, for example, a GPS sensor, a 5 magnetometer (compass), and acceleration sensors. With such sensors, the acceleration, speed and direction of a moving object may be measured and displayed on a mobile device, for example on the display of a wristop computer, a mobile telephone or any other portable device.
[0008] It is known from GB 2497153 to measure first and second physical variables 10 with first and second sensors respectively, and to determine an estimate of a target variable by measuring a first physical variable. An error estimate is determined by measuring a second physical variable, and the estimate of the target variable is filtered with a strength that depends on the error estimate. However, during a loss of satellite signals, as may be the case in shadow areas such as in tunnels, backyards and mountain areas, where only a 15 weak or non-detectable positioning signal strength exists, a satellite-based measurement may not be available at all.
[0009] Therefore, there is a need for a method and system capable of determining the direction of movement of an object. The method and system should be, for example, usable for a positioning system that delivers accurate and uninterrupted position data and 20 other data derivable therefrom. In view of the foregoing, it would be beneficial to provide a method and a system capable of determining the direction of movement of an object comprising a first part and a second part which is cyclically moving relative to the first part, in which method and system the battery consumption can be reduced. It would be also beneficial to provide a method and system capable of providing uninterrupted position data 25 and other data derivable therefrom.
SUMMARY OF THE INVENTION [0010] The invention is defined by the features of the independent claims. Some specific embodiments are defined in the dependent claims.
[0011] Certain embodiments of the present invention provide a new type of method and system for determining direction of movement of an object as well as positioning and
20175966 prh 25 -09- 2018 navigation services in a mobile device, and a corresponding system. The object of certain embodiments of the invention is particularly to complement GPS positioning services, or any other positioning service, for example wireless positioning services, visual location services, or a location given by a user, with position information derived from other sensors, in varying movement and ambient conditions.
[0012] According to a first aspect of the present invention, there is provided a method for determining a direction of movement of an object, the method comprising determining a cyclical motion of a cyclically moving part of the object by recording acceleration data of said cyclically moving part over a plurality of cycles using an 10 accelerometer or inertial sensor attached to said cyclically moving part, integrating said acceleration data over at least one cycle of movement to determine a tilting of said cyclically moving part of the object, determining a characteristic position of the cyclically moving part in subsequent cycles, measuring an external magnetic field of said cyclically moving part of the object using a magnetometer to determine an orientation of said 15 cyclically moving part of the object relative to the external magnetic field, determining the direction of movement of the object based on the tilting and the orientation of said cyclically moving part of the object, and wherein the direction of movement of the object is determined based on a previously determined direction of said object and the orientation of the cyclically moving part of the object.
[0013] Various embodiments of the first aspect may comprise at least one feature from the following bulleted list:
• a characteristic position of the cyclically moving part is determined in subsequent cycles • the external magnetic field of said cyclically moving part is measured in said characteristic position • the direction of movement of the object is determined based on a previously determined direction of said object and a measured geomagnetic orientation of the cyclically moving part of the object • the previously determined direction of said moving object is determined based on signals received from an external positioning system
20175966 prh 25 -09- 2018 • the previously determined direction of said moving object is determined based on GPS signals measured at two separate points of time • a first direction of a moving first part of the object is determined based on signals received from an external positioning system, acceleration data of a second part of the object is recorded, which second part is cyclically moving relative to the first part of the object, over a plurality of cycles using an accelerometer or inertial sensor attached to the second part of the object, said acceleration data is integrated over at least one cycle of movement to determine the tilting of said cyclically moving part of the object relative to the horizontal plane, a characteristic position 10 of the cyclically moving second part of the object is determined in subsequent cycles, a geomagnetic first orientation of the second part of the object is measured in said characteristic position using a magnetometer, a second direction of movement of the first part of the object is determined by measuring a geomagnetic second orientation of the second part of the object in said characteristic position 15 using a magnetometer, and wherein the determination is based on the tilting and the deviation between the geomagnetic first orientation and the geomagnetic second orientation of the second part of the object • at least one of the first direction, the second direction, an acceleration, a velocity, and a position of the first part of the moving object is tracked · at least one of a first angle between the geomagnetic first orientation of the second part of the object and the first direction of the first part of the object and a second angle between the geomagnetic first orientation and the geomagnetic second orientation of the second part of the object is determined • a third angle between the geomagnetic second orientation of the second part of the object and the second direction of the first part of the object is identical with the first angle • a position of the first part of the object is determined with the combined use of the external positioning system to determine the first direction of the first part of the object, the accelerometer or inertial sensor to determine the acceleration data, the magnetometer to determine the first orientation and the second orientation of the
20175966 prh 25 -09- 2018 second part of the object, and a timing function used to record the time the object has moved in any direction • the time the object has moved in any direction is recorded by a timing function • the tilting of the accelerometer or inertial sensor is determined using the formula f å = / ti. + / J ; :: i1 - f J Af
Jc Jc J( wherein 3 is the acceleration of the second part, 9 is the gravity in global coordinates, O is the tilt, and t is the time • air pressure is measured by means of an air pressure sensor and an altitude of said object is determined based on the air pressure · a position of the moving object is displayed on a display of a system, transmitted from the system to another device, or shown on a map which is available via internet • the position is an indoor or an outdoor position • the position is determined in real time or at a later stage · the characteristic position of each cycle is at a maximum or minimum acceleration value • a track formed in a first coordinate system is aligned with a second coordinate system [0014] According to a second aspect of the present invention, there is provided a system for determining a direction of movement of an object, the system comprising a receiver for receiving signals from an external positioning system, at least one of an accelerometer or an inertial sensor, a magnetometer, at least one memory unit, and a processing unit comprising at least one processing core, at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processing core, cause the system at least to determine a cyclical motion of a cyclically moving part of the object by recording acceleration data of
20175966 prh 25 -09- 2018 said cyclically moving part over a plurality of cycles using an accelerometer or inertial sensor attached to said cyclically moving part, integrate said acceleration data over at least one cycle of movement to determine a tilting of said cyclically moving part of the object relative to a horizontal plane, measure an external magnetic field of said cyclically moving 5 part of the object using a magnetometer to determine an orientation of said cyclically moving part of the object relative to the external magnetic field, determine the direction of movement of the object based on the tilting and the orientation of the cyclically moving part of the object, and wherein the system is configured to determine the direction of movement of the object based on a previously determined direction of said object and the 10 orientation of the cyclically moving part of the object.
[0015] Various embodiments of the second aspect may comprise at least one feature from the following bulleted list:
• the system is configured to determine a characteristic position of the cyclically moving part in subsequent cycles «the system is configured to measure the external magnetic field of the cyclically moving part in said characteristic position • the system is configured to determine the direction of movement of the object based on a previously determined direction of said object and a measured geomagnetic orientation of the cyclically moving part of the object · the system is configured to determine the previously determined direction of said moving object based on signals received from an external positioning system • the system is configured to determine the previously determined direction of said moving object based on GPS signals measured at two separate points of time • the processing unit comprising the at least one processing core, the at least one memory including computer program code, the at least one memory and the computer program code is further configured to, with the at least one processing core, cause the system at least to determine a first direction of a moving first part of the object based on signals received from an external positioning system, record acceleration data of a second part of the object, which second part is cyclically 30 moving relative to the first part of the object, over a plurality of cycles using an
20175966 prh 25 -09- 2018 accelerometer or inertial sensor attached to the second part of the object, integrate said acceleration data over at least one cycle of movement to determine a tilting of said cyclically moving part of the object relative to a horizontal plane, determine a characteristic position in subsequent cycles, measure an external magnetic field of the second part of the object in a characteristic position of subsequent cycles using a magnetometer, measure a geomagnetic second orientation of the second part of the object in the characteristic position of each cycle using the magnetometer, determine a second direction of the first part of the moving object based on the tilting and a deviation between the geomagnetic first orientation and the 10 geomagnetic second orientation of the second part of the object • the processing unit is continuously computing and storing at least one of the first direction, the second direction, an acceleration, a velocity, and a position of the first part of the moving object • the system is configured to determine the first direction of the first part of the object based on GPS signals between two separate points of time • the system is configured to track at least one of the first direction, the second direction, an acceleration, a velocity and a position of the first part of the moving object • the system is configured to determine at least one of a first angle between the geomagnetic first orientation of the second part of the object and the first direction of the first part of the object and a second angle between the geomagnetic first orientation and the geomagnetic second orientation of the second part of the object • the system is configured to determine a position of the first part of the object with the combined use of the external positioning system to determine the first direction of the first part of the object, the accelerometer or inertial sensor to determine the acceleration data, the magnetometer to determine the first orientation and the second orientation of the second part of the object, and a timing function used to record the time the object has moved in any direction • the system is configured to record the time the object has moved in any direction by a timing function
20175966 prh 25 -09- 2018 • the system is configured to determine the tilting of the accelerometer or inertial sensor using the formula
I ä = / a + / f (¢) ~ 0 + O · Δί Jc Jc J( wherein o. is the acceleration of the second part, J is the gravity in global coordinates, O is the tilt, and t is the time • the system further comprises an air pressure sensor • the system is configured to display a position of the moving object on a display of the system, to transmit the position of the moving object from the system to another device, or to show the position of the moving object on a map which is available via internet • the system is configured to track an indoor or an outdoor position of the moving object • the system is configured to determine the position in real time or at a later stage • the system further comprises a gyroscope «the system is configured to align a track formed in a first coordinate system with a second coordinate system [0016] According to a third aspect of the present invention, there is provided a nontransitory computer readable medium having stored thereon a set of computer readable instructions that, when executed by at least one processor, cause an apparatus to at least to 20 determine a cyclical motion of a cyclically moving part of the object by recording acceleration data of said cyclically moving part over a plurality of cycles using an accelerometer or inertial sensor attached to said cyclically moving part, integrate said acceleration data over at least one cycle of movement to determine a tilting of said cyclically moving part of the object relative to a horizontal plane, measure an external 25 magnetic field of said cyclically moving part of the object using a magnetometer to determine an orientation of said cyclically moving part of the object relative to the external magnetic field, determine the direction of movement of the object based on the tilting and
20175966 prh 25 -09- 2018 the orientation of the cyclically moving part of the object, and determine the direction of movement of the object based on a previously determined direction of said object and the orientation of the cyclically moving part of the object.
[0017] Various embodiments of the third aspect may comprise at least one feature 5 corresponding to a feature from the preceding bulleted list laid out in connection with the first aspect or second aspect.
[0018] Considerable advantages are obtained by certain embodiments of the invention. A method and a system for determining the direction of movement of an object are provided. It is possible to track the position of an object by means of the provided 10 compass in the coordinate system the as described compass forms. The coordinate system can be aligned with any other coordinate system, for example one can even afterwards align the track to a geographical track.
[0019] According to a certain embodiment, an external positioning system is only required for calibration of a first direction into which the object is moving. Subsequently, 15 the position of the object can be calculated based on deviations between different orientations of a second part of the object in characteristic positions during cyclical motions of the second part of the object. The calibration may only be carried out once or in certain time intervals, for example. Thus, battery consumption of the system in accordance with at least some embodiments of the present invention can be reduced, because the use of 20 the external positioning system, for example a GPS positioning system, can be significantly reduced.
[0020] The object may be, for example, a rowing boat or a bicycle. The object may be also a human running, swimming, or rowing a boat, for instance. The position of any object can be determined as long as a second part of the object is cyclically moving relative 25 to a first part of the object, the motion evolves very slowly compared to the time it takes to complete one cycle, and the horizontal velocity of the object's centre of mass is constant and the integral of vertical velocity is zero. Further, the invention particularly relates to improving the accuracy of a position indication measured with the aid of a mobile device or system. The mobile device may be, for example, a wristop computer, a mobile telephone 30 or any other portable device.
20175966 prh 25 -09- 2018 [0021] Further, during loss of satellite signals, as may be e.g. the case in shadow areas such as in tunnels, in and between buildings, backyards, and mountain areas, where only a weak or non-detectable positioning signal strength exists and a satellite-based measurement is not possible, a positioning method and system that delivers accurate and 5 uninterrupted position data and other data derivable therefrom, under all circumstances, is provided.
[0022] Direction data, velocity data, and position indication data and other data derivable therefrom may be provided in real time and/or at a later stage. The direction data, velocity data, and the position indication data and other data derivable therefrom may be 10 visualized on a display of the system in accordance with at least some embodiments of the present invention, on another device, or in the internet.
[0023] The data may be e.g. used to calculate and/or monitor the covered distance or for safety reasons. A runner may want to know the covered distance during an exercise session in real time and/or at a later stage. Further, a person walking cross country may 15 have the desire to know the real time location in case of an accident, for instance. In both cases, the method and system in accordance with at least some embodiments of the present invention can provide accurate and uninterrupted position data.
[0024] Further, an indoor position may be calculated by means of certain embodiments of the present invention. The position in a tunnel or in another building such 20 as a sports stadium, where an external positioning signal is not available or the quality of the signal is not sufficient, may be calculated, for instance. The calculated position indication may be, for example, used in case of emergency. The calculated position indication may be, for example, transmitted to a server or by means of a smartphone app to an emergency doctor or other emergency forces, thus improving safety of a user.
BRIEF DESCRIPTION OF THE DRAWINGS [0025] FIGURE 1 illustrates a schematic view of an example of determination of a direction of movement of an object in accordance with at least some embodiments of the present invention, [0026] FIGURE 2 illustrates a time-acceleration-diagram, [0027] FIGURE 3 illustrates a time-direction of movement-diagram, [0028] FIGURE 4 illustrates a diagram with geometric paths tracked using different methods, [0029] FIGURE 5 illustrates another schematic view of an example of determination of a direction of movement of an object in accordance with at least some embodiments of the present invention, [0030] FIGURE 6 illustrates a satellite system and a system in accordance with at least some embodiments of the present invention, [0031] FIGURE 7 illustrates a schematic view of an example of outdoor position 10 determination, [0032] FIGURE 8 illustrates a schematic view of another example of outdoor position determination, [0033] FIGURE 9 illustrates a schematic view of an example of indoor position determination, [0034] FIGURE 10 illustrates a schematic view of another example of position determination, and [0035] FIGURE 11 illustrates an example of a system in accordance with at least some embodiments of the present invention.
20175966 prh 25 -09- 2018
EMBODIMENTS [0036] In FIGURE 1 a schematic view of an example of determination of a direction of movement of an object in accordance with at least some embodiments of the present invention is illustrated. A person 2 carrying a system 1 in accordance with certain embodiments of the present invention is about to run along a track T. The system 1 may be 25 a wristop computer which is attached to the right arm of the person 2, for instance.
[0037] It is further relied on the observation that running is a cyclical motion. With cycle it is meant that a back and forth movement is made by an arm of a runner or a step pair. Throughout this document, the following assumptions are made:
20175966 prh 25 -09- 2018 [0038] 1. A runner's running form evolves very slowly compared to the time it takes to complete one cycle, and [0039] 2. The horizontal velocity of the runner's centre of mass is constant and the integral of vertical velocity is zero.
[0040] These assumptions mean that the runner's wrist, or any other part of the body, is in the same orientation at the end of the cycle as at the beginning of the cycle.
[0041] In general, the forearm of a runner is not pointing to the direction of movement of the runner. When running, the arms of the person 2 move cyclically in relation to the body of the person 2. The cyclical motion 6 may be angular or linear, for 10 example. In other words, a first part of the person 2 moves into a first direction 3 and a second part of the person 2 moves cyclically relative to the first part of the person 2. The term cyclically motion means that a motion is repeated in specific time intervals.
[0042] For reasons of calibration of the system 1, the first direction 3 of the first part of the person 2, i.e. the body of the person 2, is determined based on signals received from 15 an external positioning system. For example, the first direction 3 of the first part of the person 2 is determined based on GPS signals between two separate points Pl, P2. In the example shown in FIGURE 1, the first direction 3 is orientated towards North.
[0043] Between the first point Pl and the second point P2 acceleration data of the second part of the person 2, i.e. at the position where the system 1 is attached to the arm of 20 the person 2, is recorded over a plurality of cycles using an accelerometer or inertial sensor. The accelerometer or inertial sensor is attached to the second part of the person 2, i.e. to the right arm of the person 2. As the accelerometer or inertial sensor is comprised by the wristop computer, acceleration data is recorded at the position of the wristop computer. An accelerometer sampling frequency may be, for example, 104 Hz. In other words, the 25 acceleration of the body, i.e. data from which a velocity and a position of the person 2 can be derived, and the acceleration of the arm to which the wristop computer is attached to are different due to the cyclical motion of the arms of the person 2.
[0044] A characteristic position can be determined in subsequent cycles of the cyclic motion. The characteristic position of each cycle may be at a maximum or minimum 30 acceleration value, for example. One way to determine the cycles is to consider total acceleration and to count the peaks which correspond to the step. Then every second step,
20175966 prh 25 -09- 2018 or a peak, completes a cycle. Also an adaptive peak finding algorithm may be used, for instance. An n-second sliding window is provided to calculate a mean and standard deviation. A maximum value is accepted after the signal drops below the mean minus a coefficient times standard deviation.
[0045] When integrating the acceleration data over the full cycles, the dynamic acceleration, i.e. the motion of the arm in relation to the body, integrates to zero. Only the gravity multiplied with the cycle duration for each axis respectively is left. In other words, an error caused by the acceleration of the arm relative to the body can be eliminated by integrating the acceleration data over the full cycles and an orientation of the accelerometer 10 13 or inertial sensor relative to a horizontal plane can be determined.
[0046] The orientation of the accelerometer 13 or inertial sensor relative to the horizontal plane, i.e. the tilting, can be determined or estimated in the characteristic position of each cycle. The tilt of the accelerometer can be e.g. determined or estimated using the formula
I fl, = t £1 + / } --: (I - ( ' ' A'
Jc Jg wherein 3, is the acceleration of the second part of the person 2, ? is the gravity in global coordinates, O is the tilt, and t is the time.
[0047] Additionally, an external magnetic field is measured using a magnetometer in order to determine orientation(s) of the cyclically moving part of the object 2 relative to the 20 external magnetic field. For example, a geomagnetic first orientation of the second part of the person 2 in the characteristic position of each cycle, i.e. a heading, is determined using the magnetometer. The sampling frequency of the magnetometer may be, for example, 10 Hz. Subsequently, a first angle between the first orientation of the second part of the person 2 and the first direction 3 of the first part of the person can be determined.
[0048] Between the second point P2 and the third point P3 the person 2 is moving into a second direction 4. In the example shown in FIGURE 1, the second direction 4 is orientated towards East. Acceleration data is recorded between points Pl and P2. Further, acceleration data is integrated over the full cycles to determine the tilting of the accelerometer 13 or inertial sensor relative to a horizontal plane. Furthermore, a
20175966 prh 25 -09- 2018 characteristic position is determined in subsequent cycles. Additionally, a geomagnetic second orientation of the second part of the person 2 in the characteristic position of each cycle is determined using the magnetometer. The second direction 4 of the first part of the person 2 can now be determined based on the tilting and the deviation between the 5 geomagnetic first orientation and the geomagnetic second orientation of the second part of the person. A second angle between the geomagnetic first orientation and the geomagnetic second orientation of the second part of the person 2 can be determined. A third angle between the geomagnetic second orientation of the second part of the person 2 and the second direction 4 of the first part of the person 2 is identical with the first angle, and thus 10 the second direction 4 can be determined based on the deviation between the geomagnetic first orientation and the geomagnetic second orientation of the second part of the person 2. In other words, the deviation between the geomagnetic first orientation and the geomagnetic second orientation of the second part of the person 2 is identical with the deviation between the first direction 3 and the second direction 4 of the person 2.
[0049] Between the third point P3 and the fourth point P4 the person 2 is moving into a third direction 5. In the example shown in FIGURE 1, the third direction 5 is orientated towards South. Acceleration data is recorded between points P3 and P4. Further, acceleration data is integrated over the full cycles to determine the tilting of the accelerometer 13 or inertial sensor relative to a horizontal plane. Furthermore, a 20 characteristic position is determined. Additionally, a geomagnetic third orientation of the second part of the person 2 in the characteristic position of each cycle is determined using the magnetometer. The third direction 5 of the first part of the person 2 can now be determined based on the deviation between the geomagnetic second orientation and the geomagnetic third orientation of the second part of the person. A second angle between the 25 geomagnetic second orientation and the geomagnetic third orientation of the second part of the person can be determined. A third angle between the geomagnetic third orientation of the second part of the person and the third direction 5 of the first part of the person is identical with the first angle, and thus the third direction 5 can be determined based on the tilting and the deviation between the geomagnetic second orientation and the geomagnetic 30 third orientation of the second part of the person 2. In other words, the deviation between the geomagnetic second orientation and the geomagnetic third orientation of the second part of the person 2 is identical with the deviation between the second direction 4 and the third direction 5 of the person 2.
20175966 prh 25 -09- 2018 [0050] According to certain embodiments, each direction 3, 4, 5 and the velocity of the first part of the moving person 2 can be tracked, and thus a position of the person can be calculated. The position of the first part of the person 2 is determined with the combined use of different systems. An external positioning system is used to determine the first direction 3 of the first part of the person 2, i.e. for reasons of calibration. An accelerometer or inertial sensor is used to determine the acceleration data. A magnetometer is used to measure the geomagnetic first orientation, the geomagnetic second orientation, and any further geomagnetic orientation of the second part of the person 2. A timing function is further used to record the time the object has moved in any direction 3, 4, 5. A tracked 10 position of the first part of the person 2 can be displayed on a display of the system, transmitted from the system to another device, or shown on a map which is available via internet. The tracked position may be an indoor or an outdoor position. The tracked position may be determined in real time or at a later stage.
[0051] Battery consumption of the system 1 in accordance with at least some 15 embodiments of the present invention can be reduced, because the use of the external positioning system, for example a GPS positioning system, can be significantly reduced. According to certain embodiments, the external positioning system is used only for calibration of the system 1. According to certain embodiments, the external calibration system is used in certain time intervals, for example every 30 seconds or every 60 seconds. 20 According to certain embodiments, the external positioning system is used to constantly calibrate the system 1. According to certain embodiments, the external positioning system is used when the signal strength exceeds a threshold value.
[0052] In FIGURE 2 a time-acceleration-diagram is illustrated. Acceleration data of the second part of the person 2 as illustrated in FIGURE 1, which second part is cyclically 25 moving relative to the first part of the person 2, is recorded over a plurality of cycles using an accelerometer or inertial sensor attached to the second part of the person 2. A characteristic position can be determined based on the acceleration data in subsequent cycles. For each cycle the characteristic position may be, for example, the position of the second part of the person 2, where a maximum acceleration value, i.e. a peak, is measured 30 by means of an accelerometer or inertial sensor. When integrating the acceleration data over the full cycles, the dynamic acceleration, i.e. the motion of the second part in relation to the first part of the person 2, integrates to zero and the tilting of the accelerometer 13 or inertial sensor relative to a horizontal plane can be determined. An external magnetic field
20175966 prh 25 -09- 2018 can further be measured using a magnetometer in order to determine an orientation of the cyclically moving part relative to the external magnetic field. The geomagnetic orientation of the second part of the person 2 can be determined using the magnetometer attached to the second part of the person 2, for instance.
[0053] Another geomagnetic orientation of the second part of the person can be determined in the characteristic position after changing the direction of the first part of the person from a first direction 3 to a second direction 4, and thus the second direction 4 of movement of the first part of the person 2 can be determined based on the deviation between the geomagnetic first orientation and the geomagnetic second orientation of the 10 second part of the person 2.
[0054] In FIGURE 3 a time-direction of movement-diagram is illustrated. The direction of movement of a runner is shown over time using different methods for determining a direction of movement of an object. The direction of movement is computed based on a method using a GPS positioning system known in the art (marked as “gps 15 heading”), a method for determining the direction of movement of an object in accordance with at least one embodiment of the present invention (marked as “heading”) as well as a method for determining the direction of movement of an object in accordance with at least one embodiment of the present invention, wherein certain errors have been corrected (marked as “corrected heading”).
[0055] On top of the constant offset caused by the misalignment of the lower arm of a runner compared to the direction of movement of the runner, there are other error sources such as misalignment of the magnetometer and accelerometer axes, calibration offsets and integration errors. The combined effect of all these errors is that the difference between true and estimated heading is heading dependent. This can be modelled, for example, as 25 rosiU,., -in.,).. ’
These parameters can be calibrated when reference directions are available.
[0056] It can be seen that the deviation of the direction of movement determined with the method for determining the direction of movement of an object in accordance with at least one embodiment of the present invention, wherein certain errors have been 30 corrected, from the GPS based direction of movement appears to be very small.
20175966 prh 25 -09- 2018 [0057] Thus, the method for determining the direction of movement of an object in accordance with at least one embodiment of the present invention provides sufficient precision for determining the direction of movement of an object. In particular, after calibration of a system in accordance with at least some embodiments of the invention, the 5 system can be e.g. used in shadow areas as further described in connection with FIGURES 7-10.
[0058] In FIGURE 4 a diagram with geometric paths tracked using different methods is illustrated. The geometric path is computed based on a method using a GPS positioning system known in the art (marked as “gps”), a method for determining the 10 direction of movement of an object in accordance with at least one embodiment of the present invention (marked as “original”) as well as a method for determining the direction of movement of an object in accordance with at least one embodiment of the present invention, wherein correction of errors as described above in connection with FIGURE 3 has taken place (marked as “corrected”).
[0059] It is possible to track the position of an object by means of the provided compass-system in the coordinate system as described compass forms. Such a coordinate system is, for example, shown in FIGURE 4. A track formed in such a first coordinate system can be aligned with a second coordinate system, for example a geographical coordinate system, and thus a track can be shown in connection with a map. One can even 20 afterwards align the track to a geographical track by calibrating the coordinate system the described compass has formed.
[0060] Thus, the method for determining the direction of movement of an object in accordance with at least one embodiment of the present invention provides sufficient precision for determining the geometric path of an object and/or determining the position 25 of the object. In particular, after calibration of a system in accordance with at least some embodiments of the invention, the system can be e.g. used in shadow areas as further described in connection with FIGURES 7-10.
[0061] In FIGURE 5 another schematic view of an example of determination of a direction of movement of an object in accordance with at least some embodiments of the 30 present invention is illustrated. When a person is rowing a rowing boat 2, the arms of the person move cyclically in relation to the body of the person. On the other side, also the blades of the oars move cyclically in relation to the hull of the rowing boat 2.
20175966 prh 25 -09- 2018
Consequently, a system in accordance with at least some embodiments of the invention can be either attached to an arm of the person or be attached to or integrated with the blade of an oar. In the first case, a direction of movement of the person can be determined. In the latter case, a direction of movement of the rowing boat 2 can be determined. In other 5 words, the term object in this document has to be understood as a person, an animal or any other three dimensional body.
[0062] The direction of movement can be determined by determining a cyclical motion of a cyclically moving part of the object 2 by recording acceleration data of said cyclically moving part over a plurality of cycles using an accelerometer 13 or inertial 10 sensor attached to said cyclically moving part, integrating said acceleration data over at least one cycle of movement to determine a tilting of the cyclically moving part of the object 2 relative to a horizontal plane, measuring an external magnetic field of said cyclically moving part of the object 2 using a magnetometer 12 to determine an orientation of said cyclically moving part of the object 2 relative to the external magnetic field, and 15 determining the direction of movement of the object 2 based on the tilting and the orientation of the cyclically moving part of the object 2.
[0063] The direction 3 of movement remains constant as long as the orientation of said cyclically moving part of the object 2 remains constant or substantially constant. Changes in the orientation indicate that either the cyclic motion has changed or that the 20 direction of movement has changed. Changes in the cyclic motion may be, for example, detected by changes in the tilting.
[0064] It is possible to track the position of an object by means of the provided compass-system in the coordinate system as described compass forms. A reference system can be used to either calibrate the calculated direction if the cyclical movement happens in 25 some angle relative to the direction of movement of the object or to calibrate the direction if a local magnetic field is not pointing to the same direction as the reference system, for example, because of a magnetic declination. Of course, the reference system can also be used to calibrate the calculated direction if the cyclical movement happens in some angle relative to the direction of movement of the object and if a local magnetic field is not 30 pointing to the same direction as the reference system.
[0065] The position of the object can be tracked in a coordinate system based on the orientation only. However, in case that the coordinate system should be aligned with a
20175966 prh 25 -09- 2018 geographical coordinate system, the direction of movement of the object 2 is determined based on a previously determined direction 3 of said object 2 and the orientation of the cyclically moving part of the object 2. The previously determined direction 3 may be, for example, determined using an external positioning system 10 such as a GPS system.
[0066] In FIGURE 6 a schematic view of a satellite system and a system in accordance with at least some embodiments of the present invention is illustrated. A schematic view of a satellite 10 is shown, which may be a GPS satellite, for example. A system 1 is according to the invention equipped both with a magnetometer 12 and acceleration sensor(s) 13. The system 1 may be, for example, the system described in 10 connection with FIGURE 1.
[0067] A primary position indication of the system 1 is determined based on signals 14 received from the external positioning system 10. From these signals 14 also a first direction of movement of the person can be determined.
[0068] The geomagnetic orientation of the system 1 can be calculated based on the 15 accelerometer sensor 13 signals by integrating measured acceleration data over a selected period of time to determine a tilting of said cyclically moving part of the object 2 relative to a horizontal plane and by measuring an external magnetic field of the cyclically moving part in a characteristic position to determine an orientation of said cyclically moving part relative to the external magnetic field. If the movement is rhythmic or cyclic, which it 20 almost always is when a person is carrying the device, any further direction of the person may be obtained from the geomagnetic orientation of the system 1.
[0069] Velocity data may then be computed, for example based on the same or different accelerometer sensor 13 signals or any other speed sensor, wheel sensor, tachometer, impeller or pitot tube, and a secondary position indication of the system may 25 be obtained based on a known previous position, direction data, velocity data, and a timing function. The secondary position indication may then be used instead of the primary position indication to determine the position of the system 1 if the quality or availability of the satellite signal falls below a predetermined threshold value.
[0070] In FIGURE 7 a schematic view of an example of outdoor position 30 determination is illustrated. A person 2 carrying a system 1 in accordance with certain embodiments of the present invention is about to run or walk along a track T in a mountain
20175966 prh 25 -09- 2018 area Ml, M2. Because of the mountains Ml and M2, the satellite positioning signals have shadow areas SI and S2 along the track T, where the satellite signals are weak or nonexisting. Occasionally along the track T, satellite signal coverage is provided as indicated by radiation patterns Cl, C2, C3 [0071] At point Pl, the system 1 loses contact with the satellite navigation system as it enters shadow area SI. SI is then the last known “good” position, i.e. a primary position indication, based on the satellite navigation system. The direction and velocity of the user 2 in the shadow area SI is determined by the processing unit in the system by computing a primary position indication based on signals Cl from the satellite system to determine the 10 position of the user at point P1.
[0072] Between points Pl and P2, the processing unit of system 1 records movement data of the user using sensor signals from the accelerometer(s) in the system, and calculates the direction of movement of the user 2 based on the sensor signals as described, for example, in connection with FIGURE 1. The processing unit records direction data of 15 the user 2 in a memory unit in order to determine the current direction of the user 2. It also computes the velocity of the user 2 in each direction. The direction and velocity data is stored in the memory unit, in order to track and store secondary position indications of the user along the track T computed as a distance from the last known position at Pl. The system 1 may then offer the second position of the user 2 at point P2, based on the 20 secondary position indication at that point. Between point P2 and P3, satellite coverage C2 is again provided, and the position of the user 2 becomes updated with a new primary position indication at point P2 based on signals C2 from the satellite system. When the user 2 enters the shadow area S2 at point P3, the same procedure commences as in shadow area SI. At point P4, a primary position indication based on signals C3 from the satellite system 25 is again available.
[0073] For a runner running cross-country also the vertical z direction of the runner, i.e. the change in altitude, may be recorded in addition to any direction in a horizontal plane. Recording of the vertical z direction may be performed by using altitude data calculated from air pressure data measured by means of an air pressure sensor, for instance.
Mapping this information onto a topographic map vs. time gives information of the ground speed and position of the runner.
20175966 prh 25 -09- 2018 [0074] In FIGURE 8 a schematic view of another example of outdoor position determination is illustrated. A person 2 carrying a system 1 in accordance with certain embodiments of the present invention is about to run or walk along a track T in an urban area between different buildings. Because of the buildings, the satellite positioning signals 5 have shadow areas SI and S2 along the track, where the satellite signals are weak, nonexisting, or ambiguous. Occasionally along the track T, satellite signal coverage is provided as indicated by radiation patterns Cl, C2, C3, C4.
[0075] At point Pl, the system 1 loses contact with the satellite navigation system as it enters shadow area SI. SI is then the last known “good” position, i.e. a primary position 10 indication, based on the satellite navigation system. The direction and velocity of the user 2 in the shadow area SI is determined by the processing unit in the system by computing a primary position indication based on signals Cl from the satellite system to determine the position of the user at point Pl.
[0076] Between points Pl and P2, the processing unit of system 1 records movement 15 data of the user using sensor signals from the accelerometer(s) in the system, and calculates the direction of movement of the user based on the sensor signals as described, for example, in connection with FIGURE 1. The processing unit records direction data of the user in a memory unit in order to determine the current direction of the user 2. It also computes the velocity of the user in each direction and determines the time the person has 20 moved in any direction. The direction and velocity data is stored in the memory unit, in order to track and store secondary position indications of the user 2 along the track T computed as a distance from the last known position at Pl. The system 1 may then offer the second position of the user 2 at point P2, based on the secondary position indication at that point. Between point P2 and P3, satellite coverage C2 is again provided, and the 25 position of the user becomes updated with a new primary position indication at point P2 based on signals C2 from the satellite system.
[0077] When the user 2 enters the shadow area S2 at point P3, the satellite signal C3 is reflected by the building H2, and thus the position of the person is ambiguous. The processing unit of system 1 records movement data of the user using sensor signals from 30 the accelerometer(s) in the system, and calculates the direction of movement of the user 2 based on the sensor signals as described, for example, in connection with FIGURE 1. The processing unit records direction data of the user 2 in a memory unit in order to determine
20175966 prh 25 -09- 2018 the current direction of the user 2. It also computes the velocity of the user in each direction and determines the time the person has moved in any direction. The direction and velocity data is stored in the memory unit, in order to track and store secondary position indications of the user 2 along the track T computed as a distance from the last known 5 position at P3. At point P4, a primary position indication based on signals C4 from the satellite system is again available.
[0078] A primary position indication may be determined within specific time intervals, for example every 30 seconds or every minute, from the external positioning system. The quality of the signal of the external positioning system may also be 10 determined within a specific time interval. The time interval for determining a primary position indication and the time interval for determining the quality of the signal of the external positioning system may be different or identical. The quality of the signal of the external positioning system may be determined based on the signal strength and/or availability, for instance. If the signal strength is below a specific threshold value or a 15 signal cannot be received at all from the external positioning system, the secondary position indication of the user 2 may be calculated. Calculation of the secondary position indication may also take place permanently. The tracked secondary position indication may be also displayed on a display of the system 1, for example in connection with a map.
[0079] In FIGURE 9 a schematic view of an example of indoor position 20 determination is illustrated. A person 2 carrying a system 1 in accordance with certain embodiments of the present invention is about to run or walk along a track T through a tunnel or tunnel system. The tunnel has an entrance Entr and two separate exits El, E2. Occasionally along the track T, satellite signal coverage is provided as indicated by radiation patterns Cl, C2. Because of the tunnel, the satellite positioning signals are lost 25 between the entrance Entr of the tunnel at point Pl and the exit El of the tunnel at point P2.
[0080] The direction and velocity of the user 2 in the tunnel is determined by the processing unit in the system by computing a primary position indication based on signals Cl from the satellite system to determine the position of the user at point Pl.
[0081] Between points Pl and P2, the processing unit of system 21 records movement data of the user using sensor signals from the accelerometer(s) in the system, and calculates the direction of movement of the user based on the sensor signals as
20175966 prh 25 -09- 2018 described, for example, in connection with FIGURE 1. The processing unit records direction data of the user 2 in a memory unit in order to determine the current direction of the user 2. It also computes the velocity of the user 2 in each direction and determines the time the person has moved in any direction. The direction and velocity data is stored in the 5 memory unit, in order to track and store secondary position indications of the user 2 along the track T computed as a distance from the last known position at Pl. The system 1 may then offer the second position of the user 2 at point P2, based on the secondary position indication at that point. At point P2, satellite coverage C2 is again provided, and the position of the user becomes updated with a new primary position indication at point P2 10 based on signals C2 from the satellite system. Thus, it is possible to calculate and/or monitor the position of the person within a tunnel or tunnel system. In particular, it is possible to calculate and/or monitor in which part of the tunnel or tunnel system the person 2 is located or has been located.
[0082] As there is no satellite signal available along the track T between points Pl 15 and P2, the secondary position indication of the person 2 may be determined based on said primary position indication, said direction data, and said velocity data within specific time intervals, for instance. A time interval may be, for example, 1 second, 5 seconds, or 10 seconds. In other words, as long as there is no satellite signal available between points Pl and P2, calculating and/or monitoring of the secondary position indication may take place 20 every second, for instance. Accordingly, secondary position indication data, velocity data, and direction data may be stored every second in the memory of a system in accordance with certain embodiments of the present invention. According to certain embodiments of the present invention, secondary position indication data, velocity data, and direction data may be in addition or instead transmitted via a wireless connection to a server 25 infrastructure or any other computing device. Of course, the data may be also read out at a later stage.
[0083] At least one of the secondary position indication data, velocity data, and direction data may be visualized on a display of the system in accordance with some embodiments of the present invention. In particular, the secondary position indication data 30 may be shown on a map on the display of the system. The secondary position indication data may be visualized in real time or at a later stage. According to certain embodiments, the tracked secondary position indication data may be shown on a map on a display of another device in real time or at a later stage. According to certain other embodiments, the
20175966 prh 25 -09- 2018 tracked secondary position indication data may be shown on a map, which is accessible via the internet, in real time or at a later stage. Further, data derivable from at least one of the secondary position indication data, velocity data, and direction data may be visualized on the display of the system in accordance with some embodiments of the present invention, 5 on another device, or in the internet. Of course, also data obtained or derivable from the primary indication data may be visualized on the display of the system in accordance with some embodiments of the present invention, on another device, or in the internet.
[0084] Further, the two external positioning signals at points Pl and P2 can be used for calibrating at least one of the direction of movement, the calculation of the secondary 10 position indication and the sensors of the system 1. In general, any two or more external positioning signals can be used for calibration. Calibration may take place permanently, i.e. also when the external positioning signal is available, or within specific time intervals, for instance. A permanent calibration of the calculation of the secondary position indication between two different external positioning signals is beneficial, because a well calibrated 15 system is provided in case that an external positioning signal is not available or the quality of the signal is not sufficient. The calibration may be personalized. For example, a person may wear a system 1 in accordance with some embodiments of the present invention in the form of a wrist watch. Different persons may move their arms differently when walking or running, and thus different accelerations may be measured by the acceleration sensors, 20 even when the persons walk or run with identical velocity. Each system 1 may be calibrated differently due to such different accelerations taking place. In other words, calibration of the system 1 may be personalized, in particular by permanently calibrating the calculation of the secondary position indication.
[0085] In the tunnel example of FIGURE 9, the calculated secondary position 25 indication should be at point P2 identical with the new primary position indication received from the external positioning system at point P2. Any deviation between the secondary position indication and the new primary position indication can be used to calibrate multiple parameters. Independent parameters may be, for example, speed and direction. A mathematical optimization algorithm may be used for calibration of the multiple 30 parameters. For example, the least-squares method or the simplex method may be used.
The mathematical procedures can be used for finding the best-fitting curve to a given set of points by minimizing the sum of the squares of offsets of the points from the curve, for instance. When applying such a so called least-square fitting, the sum of the squares of the
20175966 prh 25 -09- 2018 offsets is used instead of the absolute values. The least-squares method finds its optimum when the sum of squared offsets is a minimum. Thus, effects of different sources of error can be balanced in order to provide a best fit for the position of the person.
[0086] In FIGURE 10 a schematic view of another example of indoor position determination is illustrated. A person 2 carrying a system 1 in accordance with certain embodiments of the present invention is about to run or walk along a track T within a building Hl, for example a sports stadium. The building Hl has an entrance Entr and an exit El. The satellite positioning signals are lost between the entrance Entr of the building Hl at point Pl and the exit El of the building Hl at point P2 along the track T.
[0087] The position, direction, and velocity of the user 2 within the building Hl is determined by the processing unit in the system by computing a primary position indication based on signals Cl from the satellite system to determine the position of the user at point Pl when entering the building Hl.
[0088] Between points Pl and P2, the processing unit of system 21 records movement data of the user using sensor signals from the accelerometer(s) in the system, and calculates the direction of movement of the user 2 based on the sensor signals as described, for example, in connection with FIGURE 1. The processing unit records direction data of the user 2 in a memory unit in order to determine the current direction of the user 2. It also computes the velocity of the user 2 in each direction and determines the time the person 2 has moved in any direction. The direction and velocity data is stored in the memory unit, in order to track and store secondary position indications of the user 2 along the track T.
[0089] Within the building Hl the person 2 may run or walk a specific distance along a 400 m lane, for instance. The position, velocity, and direction of the user 2 as well 25 as the covered distance can be computed and/or monitored within the building Hl by means of the system 1 in accordance with some embodiments of the present invention. In particular, also changes in velocity and direction of the user can be calculated and/or monitored. In other words, the system 1 is configured to calculate any position between the points Pl and P2. The calculation particularly also includes changes in direction of a 30 moving person 2. In the example of FIGURE 10, the person 2 moves along half of a round of the 400 m lane towards point P2, then moves along half of a round of the 400 m lane towards point Pl, and subsequently moves again along half of a round of the 400 m lane
20175966 prh 25 -09- 2018 towards point P2. Such changes in direction can be calculated by the system using the provided magnetometer data. Thus, any trajectory of the person 2 between points Pl and
P2, where an external positioning signal is not available or the quality is not sufficient, can be calculated and/or monitored by the system 1.
[0090] When leaving the building Hl via the exit El at point P2, the system 1 may then offer the second position of the user 2 at point P2, based on the secondary position indication at that point. At point P2, satellite coverage C2 is again provided, and the position of the user becomes updated with a new primary position indication at point P2 based on signals C2 from the satellite system. Thus, it is possible to calculate and/or 10 monitor the position, velocity, and direction of the person 2 within the building Hl between points Pl and P2.
[0091] In FIGURE 11 an example of a system in accordance with at least some embodiments of the present invention is illustrated. Illustrated is system 600, which may comprise, for example, a readout system or an integrated system comprising readout and 15 analytics functions. Comprised in system 600 is processor 610, which may comprise, for example, a single- or multi-core processor wherein a single-core processor comprises one processing core and a multi-core processor comprises more than one processing core. Processor 610 may comprise more than one processor. A processing core may comprise, for example, a Cortex-A8 processing core manufactured by ARM Holdings or a 20 Steamroller processing core produced by Advanced Micro Devices Corporation. Processor
610 may comprise at least one Qualcomm Snapdragon and/or Intel Atom processor. Processor 610 may comprise at least one application-specific integrated circuit, ASIC. Processor 610 may comprise at least one field-programmable gate array, FPGA. Processor 610 may be means for performing method steps in system 600. Processor 610 may be 25 configured, at least in part by computer instructions, to perform actions.
[0092] The system 600 may comprise memory 620. Memory 620 may comprise random-access memory and/or permanent memory. Memory 620 may comprise at least one RAM chip. Memory 620 may comprise solid-state, magnetic, optical and/or holographic memory, for example. Memory 620 may be at least in part accessible to 30 processor 610. Memory 620 may be at least in part comprised in processor 610. Memory
620 may be means for storing information. Memory 620 may comprise computer instructions that processor 610 is configured to execute. When computer instructions
20175966 prh 25 -09- 2018 configured to cause processor 610 to perform certain actions are stored in memory 620, and system 600 overall is configured to run under the direction of processor 610 using computer instructions from memory 620, processor 610 and/or its at least one processing core may be considered to be configured to perform said certain actions. Memory 620 may be at least in part external to system 600 but accessible to system 600.
[0093] System 600 may comprise a transmitter 630. System 600 may comprise a receiver 640. Transmitter 630 and receiver 640 may be configured to transmit and receive, respectively, information in accordance with at least one communication standard. Transmitter 630 may comprise more than one transmitter. Receiver 640 may comprise 10 more than one receiver. Transmitter 630 and/or receiver 640 may be configured to operate in accordance with global system for mobile communication, GSM, wideband code division multiple access, WCDMA, 5G, long term evolution, LTE, IS-95, wireless local area network, WLAN, Ethernet and/or worldwide interoperability for microwave access, WiMAX, standards, for example. Receiver 640 is configured to receive signals from an 15 external positioning system, for example a GPS satellite signal. System 600 may comprise a single receiver 640 or a plurality of different receivers 640.
[0094] System 600 may comprise a readout circuitry 650. System 600 may comprise user interface, UI, 660. UI 660 may comprise at least one of a display, a keyboard, a button, a touchscreen, a vibrator arranged to signal to a user by causing system 600 to 20 vibrate, a speaker and a microphone. A user may be able to operate system 600 via UI 660, for example to start and stop monitoring of position data.
[0095] Processor 610 may be furnished with a transmitter arranged to output information from processor 610, via electrical leads internal to system 600, to other systems comprised in system 600. Such a transmitter may comprise a serial bus transmitter 25 arranged to, for example, output information via at least one electrical lead to memory 620 for storage therein. Alternatively to a serial bus, the transmitter may comprise a parallel bus transmitter. Likewise processor 610 may comprise a receiver arranged to receive information in processor 610, via electrical leads internal to system 600, from other systems comprised in system 600. Such a receiver may comprise a serial bus receiver 30 arranged to, for example, receive information via at least one electrical lead from receiver
640 for processing in processor 610. Alternatively to a serial bus, the receiver may comprise a parallel bus receiver.
20175966 prh 25 -09- 2018 [0096] Processor 610, memory 620, transmitter 630, receiver 640, readout circuitry 650 and/or UI 660 may be interconnected by electrical leads internal to system 600 in a multitude of different ways. For example, each of the aforementioned systems may be separately connected to a master bus internal to system 600, to allow for the systems to 5 exchange information. However, as the skilled person will appreciate, this is only one example and depending on the embodiment various ways of interconnecting at least two of the aforementioned systems may be selected without departing from the scope of the present invention.
[0097] According to a certain embodiment, the system 600 further includes an x-, y-, 10 z-accelerometer and a x-, y-, z- magnetometer. An air pressure sensor may be an additional optional feature. I.e., the system 600 comprises devices for measuring acceleration in three dimensions, for measuring direction in three dimensions as well as for measuring air pressure. A direction, a velocity, and a position of a user can be derived from the measured data in connection with the primary position indication. The system is further configured to 15 record the time an object has moved in any direction by a timing function.
[0098] According to another certain embodiment, the system 600 further includes an
X-, y-, z-accelerometer, a x-, y-, z-gyroscope, and a x-, y-, z- magnetometer as well as an air pressure sensor. The gyroscope can be added to the system in order to mitigate the effect of magnetic disturbances and situations when the cyclic motion is disturbed, for 20 example when a person is waiving the hands. If the orientation is known at the beginning, integrating gyroscope data can theoretically tell the orientation at any later point in time. Because of the sensor errors, gyroscope measurements need to be fused with other sensor measurements. The gyroscope adds extra error sources to the system. Gyroscope errors can be estimated using the behaviour of the data. Integration of the gyroscope signal over 25 selected subsequent cycles should be zero, assuming that the direction of movement has not changed. Thus, the direction of movement can also be determined by using gyroscope data in addition to accelerometer and magnetometer data. Furthermore, the gyroscope enables definition of a cycle in a different way. If a cycle is estimated from peaks in the accelerometer signal, there is some latency, since the peak is not accepted instantly. 30 However, zero crossings of the gyroscope signal can be used to estimate the cycle to give the detection without latency. This means that there is no need to buffer gyroscope data for integration. In the case of a wrist device, it is convenient to calculate the cycle from zero crossings of the function
20175966 prh 25 -09- 2018 where Wi are gyroscope measurements and assuming that the x-direction is pointing to the direction of movement.
[0099] The system 600 may be, for example, a smartphone or a tablet computer according to some embodiments. According to other embodiments, the system may be a wristop computer. The above mentioned devices may be all comprised in a single apparatus or separated from each other in different devices of a system. For example, an accelerometer, a gyroscope, a magnetometer, an air pressure sensor, and a receiver configured to receive a signal from an external positioning system may be comprised by a 10 wristop computer. According to another certain embodiment, an accelerometer, a magnetometer, and an air pressure sensor may be comprised by a wristop computer. The receiver configured to receive a signal from an external positioning system and the processor 610 may be comprised by a separate computing device. The wristop computer and the computing device are then configured to transmit and receive data via a personal 15 area network. In other words, acceleration data, direction data, and pressure data may be measured by the wristop computer and transmitted to the computing device. The external positioning signal may be additionally received by the computing device. The velocity of said moving object in said direction based on the accelerometer sensor signals may then be computed by the computing device and the secondary position indication of said object 20 may be determined by the computing device. Finally, the tracked secondary positioning signal may then be displayed by the computing device.
[00100] System 600 may comprise a further device not illustrated in FIGURE 11. In some embodiments, system 600 lacks at least one device described above.
[00101] It is to be understood that the embodiments of the invention disclosed are not 25 limited to the particular structures, process steps, or materials disclosed herein, but are extended to equivalents thereof as would be recognized by those ordinarily skilled in the relevant arts. It should also be understood that terminology employed herein is used for the purpose of describing particular embodiments only and is not intended to be limiting.
[00102] Reference throughout this specification to one embodiment or an 30 embodiment means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present
20175966 prh 25 -09- 2018 invention. Thus, appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. Where reference is made to a numerical value using a term such as, for example, about or substantially, the exact numerical value is also disclosed.
[00103] As used herein, a plurality of items, structural elements, compositional elements, and/or materials may be presented in a common list for convenience. However, these lists should be construed as though each member of the list is individually identified as a separate and unique member. Thus, no individual member of such list should be construed as a de facto equivalent of any other member of the same list solely based on 10 their presentation in a common group without indications to the contrary. In addition, various embodiments and example of the present invention may be referred to herein along with alternatives for the various components thereof. It is understood that such embodiments, examples, and alternatives are not to be construed as de facto equivalents of one another, but are to be considered as separate and autonomous representations of the 15 present invention.
[00104] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided, such as examples of lengths, widths, shapes, etc., to provide a thorough understanding of embodiments of the invention. One 20 skilled in the relevant art will recognize, however, that the invention can be practiced without one or more of the specific details, or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
[00105] While the forgoing examples are illustrative of the principles of the present 25 invention in one or more particular applications, it will be apparent to those of ordinary skill in the art that numerous modifications in form, usage and details of implementation can be made without the exercise of inventive faculty, and without departing from the principles and concepts of the invention. Accordingly, it is not intended that the invention be limited, except as by the claims set forth below.
[00106] The verbs “to comprise” and “to include” are used in this document as open limitations that neither exclude nor require the existence of also un-recited features. The features recited in depending claims are mutually freely combinable unless otherwise explicitly stated. Furthermore, it is to be understood that the use of a or an, that is, a singular form, throughout this document does not exclude a plurality.
INDUSTRIAL APPLICABILITY
5 [00107] At least some embodiments of the present invention find industrial
application in determining a direction of movement of an object.
20175966 prh 25 -09- 2018
GPS ACRONYMS LIST Global Positioning System
10 GSM global system for mobile communication
LTE long term evolution
UI user interface
WCDMA wideband code division multiple access
WiMAX worldwide interoperability for microwave access
15 WLAN wireless local area network
1 REFERENCE SIGNS LIST system
2 object
20 3 first direction
4 second direction
5 third direction
6 cyclical motion
10 satellite
20175966 prh 25 -09- 2018
12 magnetometer
13 accelerometer
14 signal
600 system
5 610 processor
620 memory
630 transmitter
640 receiver
650 readout circuitry
10 660 user interface
Cl satellite signal
C2 satellite signal
C3 satellite signal
C4 satellite signal
15 El first exit
E2 second exit
Entr entrance
Hl building
H2 building
20 Ml mountain
M2 mountain
Pl first point
P2 second point
P3 third point
P4 fourth point
T track
CITATION LIST
Patent Literature
GB 2497153
20175966 prh 25 -09- 2018
20175966 prh 25 -09- 2018

Claims (15)

PATENTTIVAATIMUKSET:CLAIMS: 1. Menetelmä kappaleen (2) liikesuunnan määrittämiseksi, missä menetelmä käsittää sen, että:A method for determining the direction of movement of a body (2), the method comprising: - määritetään kappaleen (2) syklisesti liikkuvan osan syklinen liike tallentamalla- determining the cyclic motion of the cyclically moving part of the body (2) by recording 2. Patenttivaatimuksen 1 mukainen menetelmä, jossa syklisesti liikkuvan osan tunnusomainen sijainti määritetään peräkkäisissä sykleissä.The method of claim 1, wherein the characteristic location of the cyclically moving portion is determined in successive cycles. 2020 3. Patenttivaatimuksen 2 mukainen menetelmä, jossa mainitun syklisesti liikkuvan osan ulkoinen magneettikenttä mitataan mainitussa tunnusomaisessa sijainnissa.The method of claim 2, wherein the external magnetic field of said cyclically moving portion is measured at said characteristic location. 4. Jonkin patenttivaatimuksista 1-3 mukainen menetelmä, jossa kappaleen (2) liikesuunta (3, 4, 5) määritetään perustuen mainitun kappaleen (2) aikaisemmin määritettyyn suuntaan sekä kappaleen (2) syklisesti liikkuvan osan mitattuun geomagneettiseen orientaatioon.A method according to any one of claims 1 to 3, wherein the direction of movement (3, 4, 5) of the body (2) is determined based on a predetermined direction of said body (2) and the measured geomagnetic orientation of the cyclically moving part of the body (2). 25 5. Patenttivaatimuksen 3 tai 4 mukainen menetelmä, jossa mainitun liikkuvan kappaleen aikaisemmin määritetty suunta määritetään perustuen ulkoiselta paikannusjärjestelmältä vastaanotettuihin signaaleihin.The method of claim 3 or 4, wherein the previously determined direction of said moving body is determined based on signals received from the external location system. 5 kiihtyvyysanturia (13) tai inertia-anturia, joka on kiinnitetty mainittuun syklisesti liikkuvaan osaan,5 acceleration sensors (13) or an inertia sensor attached to said cyclically moving part, - integroimaan mainitun kiihtyvyysdatan vähintään yhden liikesyklin yli kappaleen (2) mainitun syklisesti liikkuvan osan kallistuksen määrittämiseksi suhteessa vaakatasoon,- integrating said acceleration data over at least one cycle of motion to determine the inclination of said cyclically moving part of the body (2) with respect to the horizontal, - mittaamaan kappaleen (2) mainitun syklisesti liikkuvan osan ulkoisen magneettikentän- measuring the external magnetic field of said cyclically moving part of the body (2) 5 konfiguroitu määrittämään vähintään yksi kappaleen toisen osan geomagneettisen ensimmäisen orientaation ja kappaleen ensimmäisen osan ensimmäisen suunnan välisestä kulmasta sekä kappaleen toisen osan geomagneettisen ensimmäisen orientaation ja geomagneettisen toisen orientaation välisestä toisesta kulmasta.5 configured to define at least one of the angle between the geomagnetic first orientation of the second portion of the body and the first direction of the first portion of the body and the second angle between the geomagnetic first orientation of the second body and the second geomagnetic orientation. 30. Jonkin patenttivaatimuksista 25-29 mukainen järjestelmä (600), jossa järjestelmä (600) onThe system (600) of any one of claims 25 to 29, wherein the system (600) is 5 käsittää mainitun vähintään yhden prosessoriytimen, mainitun vähintään yhden muistin (620) sisältäen tietokoneohjelmakoodia, missä mainitut vähintään yksi muisti ja tietokoneohjelmakoodi on lisäksi konfiguroitu mainitun vähintään yhden prosessoriytimen kanssa saamaan järjestelmän (600) ainakin:5 comprises said at least one processor core, said at least one memory (620) including computer program code, wherein said at least one memory and computer program code are further configured with said at least one processor core to provide the system (600) with at least: - määrittämään kappaleen liikkuvan ensimmäisen osan ensimmäisen suunnan perustuen- determine the moving part of the body based on the first direction 5 - integroimaan mainitun kiihtyvyysdatan vähintään yhden liikesyklin yli kappaleen mainitun syklisesti liikkuvan osan kallistuksen määrittämiseksi suhteessa vaakatasoon,5 - integrating said acceleration data over at least one cycle of motion to determine the inclination of said cyclically moving part of the body relative to the horizontal, - mittaamaan kappaleen mainitun syklisesti liikkuvan osan ulkoisen magneettikentän käyttäen magnetometriä kappaleen mainitun syklisesti- to measure the external magnetic field of said cyclically moving part of the body using a magnetometer for said cyclic movement of the body; 5 mihin tahansa suuntaan liikkuma aika ajoitusfunktiolla.5 movement in any direction with the timing function. 5 ensimmäiseen osaan, kiihtyvyysdataa usean syklin ajan käyttäen kiihtyvyysanturia (13) tai inertia-anturia, joka on kiinnitetty kappaleen (2) toiseen osaan,5 to the first part, acceleration data for several cycles using an acceleration sensor (13) or an inertia sensor attached to the second part of the body (2), - integroidaan mainittu kiihtyvyysdata vähintään yhden liikesyklin yli kappaleen (2) mainitun syklisesti liikkuvan osan kallistuksen määrittämiseksi suhteessa vaakatasoon,- integrating said acceleration data over at least one cycle of motion to determine the inclination of said cyclically moving part of the body (2) with respect to the horizontal, - määritetään kappaleen (2) syklisesti liikkuvan toisen osan tunnusomainen sijainti- determining the characteristic position of the cyclically moving second part of the body (2) 5 mainitun syklisesti liikkuvan osan kiihtyvyysdataa usean syklin ajan käyttäen kiihtyvyysanturia (13) tai inertia-anturia, joka on kiinnitetty mainittuun syklisesti liikkuvaan osaan,5 acceleration data of said cyclically moving part for several cycles using an acceleration sensor (13) or an inertia sensor attached to said cyclically moving part, - integroidaan mainittu kiihtyvyysdata vähintään yhden liikesyklin yli kappaleen (2) mainitun syklisesti liikkuvan osan kallistuksen määrittämiseksi suhteessa vaakatasoon,- integrating said acceleration data over at least one cycle of motion to determine the inclination of said cyclically moving part of the body (2) with respect to the horizontal, 6. Jonkin patenttivaatimuksista 3-5 mukainen menetelmä, jossa mainitun liikkuvan kappaleen aikaisemmin määritetty suunta määritetään perustuen GPS-signaaleihin, jotka mitataanA method according to any one of claims 3-5, wherein the previously determined direction of said moving body is determined based on GPS signals measured 30 kahtena eri aj anhetkenä.30 at two different times. 20175966 prh 25 -09- 201820175966 prh 25 -09- 2018 7. Jonkin patenttivaatimuksista 1-6 mukainen menetelmä, jossaA method according to any one of claims 1 to 6, wherein - määritetään kappaleen (2) liikkuvan ensimmäisen osan ensimmäinen suunta (3) perustuen ulkoiselta paikannusjärjestelmältä vastaanotettuihin signaaleihin,- determining the first direction (3) of the movable first part of the body (2) based on the signals received from the external positioning system, - tallennetaan kappaleen (2) toisen osan, joka liikkuu syklisesti suhteessa kappaleen (2)- storing a second part of the body (2) which moves cyclically with respect to the body (2) 8. Patenttivaatimuksen 7 mukainen menetelmä, jossa jäljitetään vähintään yhtä liikkuvan kappaleen ensimmäisen osan ensimmäisestä suunnasta, toisesta suunnasta, kiihtyvyydestä,The method of claim 7, wherein at least one of the first direction, the second direction, the acceleration of the first part of the moving body is traced, 20 nopeudesta ja sijainnista.20 speed and location. 9. Patenttivaatimuksen 7 tai 8 mukainen menetelmä, jossa määritetään vähintään yksi kappaleen toisen osan geomagneettisen ensimmäisen orientaation ja kappaleen ensimmäisen osan ensimmäisen suunnan välisestä ensimmäisestä kulmasta ja kappaleen toisen osan toisesta kulmasta geomagneettisen ensimmäisen orientaation ja geomagneettisen toisen orientaationThe method of claim 7 or 8, wherein at least one of a first angle between the geomagnetic first orientation of the second portion of the body and the first direction of the first portion of the body and a second angle of the second portion of the body determines a geomagnetic first orientation and a second geomagnetic orientation. 25 välillä.Between 25. 10 käyttäen magnetometriä (12) kappaleen (2) mainitun syklisesti liikkuvan osan orientaation määrittämiseksi suhteessa ulkoiseen magneettikenttään,10 using a magnetometer (12) for determining the orientation of said cyclically moving part of the body (2) with respect to an external magnetic field, - määrittämään kappaleen (2) liikesuunnan (3, 4, 5) perustuen kappaleen (2) syklisesti liikkuvan osan kallistukseen ja orientaatioon, ja- determine the direction of movement (3, 4, 5) of the body (2) based on the inclination and orientation of the cyclically moving part of the body (2), and - määrittämään kappaleen (2) liikesuunnan (3, 4, 5) perustuen mainitun kappaleen (2)- determine the direction of movement (3, 4, 5) of the body (2) on the basis of said body (2) 10 konfiguroitu määrittämään kappaleen ensimmäisen osan sijainti käyttäen yhdessä ulkoista paikannusjärjestelmää kappaleen ensimmäisen osan ensimmäisen suunnan määrittämiseksi, kiihtyvyysanturia tai inertia-anturia kiihtyvyysdatan määrittämiseksi, magnetometriä kappaleen toisen osan ensimmäisen orientaation ja toisen orientaation määrittämiseksi sekä ajoitusfiinktiota, jota käytetään tallentamaan kappaleen mihin tahansa suuntaan liikkuma aika.10 configured to determine the position of the first part of the body using an external positioning system to determine the first direction of the first part of the body, an accelerometer or inertia sensor to determine acceleration data, a magnetometer to determine the first orientation and second orientation of the second part, and a timing function used to record body movement time. 1515 31. Jonkin patenttivaatimuksista 19-30 mukainen järjestelmä (600), jossa järjestelmä (600) on konfiguroitu tallentamaan kappaleen mihin tahansa suuntaan liikkuma aika ajoitusfunktiolla.The system (600) of any one of claims 19 to 30, wherein the system (600) is configured to record the time the object moves in any direction with a timing function. 32. Jonkin patenttivaatimuksista 19-31 mukainen järjestelmä (600), jossa järjestelmä (600) käsittää lisäksi ilmanpaineanturin.The system (600) of any one of claims 19 to 31, wherein the system (600) further comprises an air pressure sensor. 33. Jonkin patenttivaatimuksista 19-32 mukainen järjestelmä (600), jossa järjestelmä (600) onThe system (600) of any one of claims 19 to 32, wherein the system (600) is 20 konfiguroitu esittämään liikkuvan kappaleen sijainti järjestelmän (600) näytöllä, lähettämään liikkuvan kappaleen sijainti järjestelmästä (600) toiselle laitteelle tai näyttämään liikkuvan kappaleen sijainti kartalla, joka on saatavilla internetin kautta.20 configured to display the location of the moving object on the screen of the system (600), to transmit the location of the moving object from the system (600) to another device, or to display the location of the moving object on a map available via the Internet. 34. Jonkin patenttivaatimuksista 19-33 mukainen järjestelmä (600), jossa järjestelmä (600) on konfiguroitu jäljittämään liikkuvan kappaleen sisä- tai ulkosijaintia.The system (600) of any one of claims 19 to 33, wherein the system (600) is configured to track the internal or external location of the moving body. 2525 35. Patenttivaatimuksen 33 tai 34 mukainen jäijestelmä (600), jossa järjestelmä (600) on konfiguroitu määrittämään sijainti reaaliajassa tai myöhemmässä vaiheessa.The ice system (600) of claim 33 or 34, wherein the system (600) is configured to determine the location in real time or at a later stage. 36. Jonkin patenttivaatimuksista 19-35 mukainen järjestelmä (600), jossa järjestelmä (600) käsittää lisäksi gyroskoopin.The system (600) of any one of claims 19 to 35, wherein the system (600) further comprises a gyroscope. 37. Jonkin patenttivaatimuksista 19-36 mukainen järjestelmä (600), jossa järjestelmä (600) onThe system (600) of any one of claims 19 to 36, wherein the system (600) is 30 konfiguroitu asettamaan ensimmäisessä koordinaatti)ärjestelmässä muodostetun jäljen kohdakkain toisen koordinaatti) äij estelmän kanssa.30 configured to align the trace formed in the first coordinate system with the second coordinate system. 38. Pysyvä, tietokoneella luettava media, johon on tallennettu joukko tietokoneella luettavia komentoja, jotka suoritettaessa vähintään yhdessä prosessorissa saavat laitteiston vähintään:38. Permanent computer-readable media containing a set of computer-readable commands which, when executed on at least one processor, obtain at least: - määrittämään kappaleen (2) syklisesti liikkuvan osan syklisen liikkeen tallentamalla mainitun syklisesti liikkuvan osan kiihtyvyysdataa usean syklin ajan käyttäen- determining the cyclic motion of the cyclically moving part of the body (2) by storing the acceleration data of said cyclically moving part for several cycles 10 signaaleihin, jotka on vastaanotettu ulkoiselta paikannusjärjestelmältä,10 signals received from an external location system, - tallentamaan kappaleen toisen osan, joka liikkuu syklisesti suhteessa kappaleen ensimmäiseen osaan, kiihtyvyysdataa usean syklin ajan käyttäen kiihtyvyysanturia tai inertia-anturia, joka on kiinnitetty kappaleen toiseen osaan,- store the acceleration data of the second part of the part, which moves cyclically relative to the first part of the part, for several cycles using an acceleration sensor or an inertia sensor attached to the second part of the part, - integroimaan mainitun kiihtyvyysdatan vähintään yhden liikesyklin yli kappaleen- integrating said acceleration data over at least one motion cycle over the body 15 mainitun syklisesti liikkuvan osan kallistuksen määrittämiseksi suhteessa vaakatasoon,15 for determining the inclination of said cyclically moving part relative to the horizontal plane, - määrittämään tunnusomaisen sijainnin peräkkäisissä sykleissä,- determine the characteristic position in successive cycles, - mittaamaan kappaleen toisen osan geomagneettisen ensimmäisen orientaation peräkkäisten syklien tunnusomaisessa sijainnissa käyttäen magnetometriä,- to measure the geomagnetic first orientation of the second part of the body at a characteristic position of successive cycles using a magnetometer, - mittaamaan kappaleen toisen osan geomagneettisen toisen orientaation kunkin syklin- measure the second geomagnetic orientation of the second part of the body for each cycle 20 tunnusomaisessa sijainnissa käyttäen magnetometriä,20 in a characteristic position using a magnetometer, - määrittämään liikkuvan kappaleen ensimmäisen osan toisen suunnan perustuen kappaleen toisen osan kallistukseen sekä poikkeamaan geomagneettisen ensimmäisen orientaation ja geomagneettisen toisen orientaation välillä.- determine the second direction of the first part of the moving body based on the inclination of the second part of the body and the deviation between the first geomagnetic orientation and the second geomagnetic orientation. 26. Patenttivaatimuksen 25 mukainen jäijestelmä (600), jossa prosessori (610) laskee jaThe ice system (600) of claim 25, wherein the processor (610) calculates and 25 tallentaa jatkuvasti vähintään yhtä liikkuvan kappaleen ensimmäisen osan ensimmäisestä suunnasta, toisesta suunnasta, kiihtyvyydestä, nopeudestaja sijainnista.25 continuously records at least one of the first direction, the second direction, the acceleration, the speed accelerator and the position of the first part of the moving body. 27. Patenttivaatimuksen 25 tai 26 mukainen jäijestelmä (600), jossa järjestelmä (600) on konfiguroitu määrittämään kappaleen ensimmäisen osan ensimmäinen suunta perustuen GPSsignaaleihin kahden eri ajanhetken välillä.The ice system (600) of claim 25 or 26, wherein the system (600) is configured to determine the first direction of the first portion of the body based on GPS signals between two different times. 20175966 prh 25 -09- 201820175966 prh 25 -09- 2018 28. Jonkin patenttivaatimuksista 25-27 mukainen järjestelmä (600), jossa järjestelmä (600) on konfiguroitu jäljittämään vähintään yhtä liikkuvan kappaleen ensimmäisen osan ensimmäisestä suunnasta, toisesta suunnasta, kiihtyvyydestä, nopeudesta ja sijainnista.The system (600) of any one of claims 25 to 27, wherein the system (600) is configured to track at least one of the first direction, the second direction, the acceleration, the speed, and the location of the first portion of the moving body. 29. Jonkin patenttivaatimuksista 25-28 mukainen järjestelmä (600), jossa jäijestelmä (600) onThe system (600) of any one of claims 25 to 28, wherein the ice system (600) is 10 liikkuvan osan orientaation määrittämiseksi suhteessa ulkoiseen magneettikenttään,10 to determine the orientation of the moving part with respect to the external magnetic field, - määrittämään kappaleen liikesuunnan perustuen kappaleen mainitun syklisesti liikkuvan osan kallistukseen ja orientaatioon, ja- determine the direction of movement of the body based on the inclination and orientation of said cyclically moving part of the body, and - missä järjestelmä (600) on konfiguroitu määrittämään kappaleen liikesuunta- wherein the system (600) is configured to determine the direction of movement of the part 15 perustuen mainitun kappaleen aikaisemmin määritettyyn suuntaan ja kappaleen syklisesti liikkuvan osan orientaatioon.15 based on the previously determined direction of said body and the orientation of the cyclically moving part of the body. 20. Patenttivaatimuksen 19 mukainen järjestelmä (600), jossa järjestelmä (600) on konfiguroitu määrittämään syklisesti liikkuvan osan tunnusomainen sijainti peräkkäisissä sykleissä.The system (600) of claim 19, wherein the system (600) is configured to determine a characteristic location of the cyclically moving portion in successive cycles. 2020 21. Patenttivaatimuksen 20 mukainen järjestelmä (600), jossa järjestelmä (600) on konfiguroitu mittaamaan syklisesti liikkuvan osan ulkoinen magneettikenttä mainitussa tunnusomaisessa sijainnissa.The system (600) of claim 20, wherein the system (600) is configured to measure the external magnetic field of the cyclically moving portion at said characteristic location. 22. Jonkin patenttivaatimuksista 19-21 mukainen järjestelmä (600), jossa järjestelmä (600) on konfiguroitu määrittämään kappaleen liikesuunta perustuen mainitun kappaleen aikaisemminThe system (600) of any one of claims 19 to 21, wherein the system (600) is configured to determine the direction of movement of the body based on the ability of said body to 25 määritettyyn suuntaan ja kappaleen syklisesti liikkuvan osan mitattuun geomagneettiseen orientaatioon.25 in the defined direction and the measured geomagnetic orientation of the cyclically moving part of the body. 23. Patenttivaatimuksen 21 tai 22 mukainen järjestelmä (600), jossa järjestelmä (600) on konfiguroitu määrittämään mainitun liikkuvan kappaleen aikaisemmin määritetty suunta perustuen ulkoiselta paikannusjärjestelmältä vastaanotettuihin signaaleihin.The system (600) of claim 21 or 22, wherein the system (600) is configured to determine a predetermined direction of said moving body based on signals received from the external location system. 20175966 prh 25 -09- 201820175966 prh 25 -09- 2018 24. Jonkin patenttivaatimuksista 21-23 mukainen järjestelmä (600), jossa järjestelmä (600) on konfiguroitu määrittämään mainitun liikkuvan kappaleen aikaisemmin määritetty suunta perustuen GPS-signaaleihin, jotka on mitattu kahtena eri ajanhetkenä.The system (600) of any one of claims 21 to 23, wherein the system (600) is configured to determine a previously determined direction of said moving body based on GPS signals measured at two different times. 25. Jonkin patenttivaatimuksista 19-24 mukainen järjestelmä (600), jossa prosessori (610)The system (600) of any of claims 19 to 24, wherein the processor (610) 10 sijainti esitetään järjestelmän näytöllä, lähetetään järjestelmästä toiseen laitteeseen tai näytetään kartalla, joka on saatavilla internetin kautta.10 location is displayed on the system screen, transmitted from the system to another device, or displayed on a map available via the Internet. 15. Patenttivaatimuksen 14 mukainen menetelmä, jossa sijainti on sisä- tai ulkosijainti.The method of claim 14, wherein the location is an indoor or outdoor location. 16. Patenttivaatimuksen 14 tai 15 mukainen menetelmä, jossa sijainti määritetään reaaliaikaisesti tai myöhemmässä vaiheessa.The method of claim 14 or 15, wherein the location is determined in real time or at a later stage. 1515 17. Patenttivaatimuksen 2 tai 3 mukainen menetelmä, jossa kunkin syklin tunnusomainen sijainti on maksimi- tai minikiihtyvyysarvossa.The method of claim 2 or 3, wherein the characteristic location of each cycle is at a maximum or minimum acceleration value. 18. Jonkin patenttivaatimuksista 1-17 mukainen menetelmä, jossa ensimmäisessä koordinaattijärjestelmässä muodostettu jälki asetetaan kohdakkain toisen koordinaattijärjestelmän kanssa.A method according to any one of claims 1 to 17, wherein the trace formed in the first coordinate system is aligned with the second coordinate system. 20 19. Järjestelmä (600) kappaleen liikesuunnan määrittämiseksi, missä järjestelmä (600) käsittää:19. A system (600) for determining the direction of movement of a body, wherein the system (600) comprises: - vastaanottimen (640) signaalien vastaanottamiseksi ulkoiselta paikannus)äijestelmältä,- a receiver (640) for receiving signals from an external positioning system, - vähintään toisen kiihtyvyysanturista ja inertia-anturista,- at least one of the accelerometer and the inertia sensor, - magnetometrin,- magnetometer, 25 - vähintään yhden muistiyksikön, jaAt least one memory unit, and - prosessorin (610) käsittäen vähintään yhden prosessoriytimen, vähintään yhden muistin (620) sisältäen tietokoneohjelmakoodia, missä mainitut vähintään yksi muisti (620) ja tietokoneohjelmakoodi konfiguroidaan yhdessä mainitun vähintään yhden prosessoriytimen kanssa saamaan järjestelmän (600) vähintään:- a processor (610) comprising at least one processor core, at least one memory (620) including computer program code, wherein said at least one memory (620) and the computer program code are configured together with said at least one processor core to provide at least: 20175966 prh 25 -09- 201820175966 prh 25 -09- 2018 - määrittämään kappaleen syklisesti liikkuvan osan syklinen liike tallentamalla mainitun syklisesti liikkuvan osan kiihtyvyysdataa usean jakson ajan käyttäen kiihtyvyysanturia tai inertia-anturia, joka on kiinnitetty mainittuun syklisesti liikkuvaan osaan,- determining the cyclic movement of the cyclically moving part of the body by storing the acceleration data of said cyclically moving part for several periods using an acceleration sensor or an inertia sensor attached to said cyclically moving part, 10. Patenttivaatimuksen 9 mukainen menetelmä, jossa kappaleen toisen osan geomagneettisen toisen orientaation ja kappaleen ensimmäisen osan toisen suunnan välinen kolmas kulma on identtinen ensimmäisen kulman kanssa.The method of claim 9, wherein the third angle between the second geomagnetic orientation of the second part of the body and the second direction of the first part of the body is identical to the first angle. 10 peräkkäisissä sykleissä,10 consecutive cycles, - mitataan kappaleen (2) toisen osan geomagneettinen ensimmäinen orientaatio mainitussa tunnusomaisessa sijainnissa käyttäen magnetometriä,- measuring the first geomagnetic orientation of the second part of the body (2) at said characteristic position using a magnetometer, - määritetään kappaleen (2) ensimmäisen osan toinen liikesuunta (4) mittaamalla kappaleen (2) toisen osan geomagneettinen toinen orientaatio mainitussa- determining the second direction of movement (4) of the first part of the body (2) by measuring the second geomagnetic orientation of the second part of the body (2) in said 15 tunnusomaisessa sijainnissa käyttäen magnetometriä (12), ja missä määrittäminen perustuu kappaleen (2) toisen osan kallistukseen sekä geomagneettisen ensimmäisen orientaation ja geomagneettisen toisen orientaation väliseen poikkeamaan.15 in a characteristic position using a magnetometer (12), and wherein the determination is based on the inclination of the second part of the body (2) and the deviation between the first geomagnetic orientation and the second geomagnetic orientation. 10 - mitataan kappaleen (2) mainitun syklisesti liikkuvan osan ulkoinen magneettikenttä käyttäen magnetometriä (12) mainitun syklisesti liikkuvan osan orientaation määrittämiseksi suhteessa ulkoiseen magneettikenttään,10 - measuring the external magnetic field of said cyclically moving part of the body (2) using a magnetometer (12) for determining the orientation of said cyclically moving part relative to the external magnetic field, - määritetään kappaleen (2) liikesuunta (3, 4, 5) perustuen kappaleen (2) mainitun syklisesti liikkuvan osan kallistukseen ja orientaatioon, ja- determining the direction of movement (3, 4, 5) of the body (2) based on the inclination and orientation of said cyclically moving part of the body (2), and 15 - missä kappaleen (2) liikesuunta (3, 4, 5) määritetään perustuen mainitun kappaleen (2) aikaisemmin määritettyyn suuntaan sekä kappaleen (2) syklisesti liikkuvan osan orientaatioon.15 - wherein the direction of movement (3, 4, 5) of the body (2) is determined based on the previously determined direction of said body (2) and the orientation of the cyclically moving part of the body (2). 11. Jonkin patenttivaatimuksista 7-10 mukainen menetelmä, jossa määritetään kappaleenA method according to any one of claims 7 to 10, wherein the body is determined 30 ensimmäisen osan sijainti käyttäen yhdessä ulkoista paikannus]äijestelmää kappaleen ensimmäisen osan ensimmäisen suunnan määrittämiseksi, kiihtyvyysanturia tai inertia-anturia 30 positioning of the first part using an external positioning system to determine the first direction of the first part of the part, an acceleration sensor or an inertia sensor 20175966 prh 25 -09- 2018 kiihtyvyysdatan määrittämiseksi, magnetometriä kappaleen toisen osan ensimmäisen orientaation ja toisen orientaation määrittämiseksi sekä ajoitusfunktiota, jota käytetään tallentamaan kappaleen mihin tahansa suuntaan liikkuma aika.20175966 prh 25 -09- 2018 to determine the acceleration data, a magnetometer to determine the first orientation and the second orientation of the second part of the body, and a timing function used to record the time the body has moved in any direction. 12. Jonkin patenttivaatimuksista 1-11 mukainen menetelmä, jossa tallennetaan kappaleenA method according to any one of claims 1 to 11, wherein the body is stored 13. Jonkin patenttivaatimuksista 1-12 mukainen menetelmä, jossa mitataan ilmanpainetta ilmanpaineanturin avulla ja määritetään mainitun kappaleen korkeus perustuen ilmanpaineeseen.A method according to any one of claims 1 to 12, wherein the air pressure is measured by means of an air pressure sensor and the height of said body is determined based on the air pressure. 14. Jonkin patenttivaatimuksista 1-13 mukainen menetelmä, jossa liikkuvan kappaleenA method according to any one of claims 1 to 13, wherein the movable body 15 aikaisemmin määritettyyn suuntaan sekä kappaleen (2) syklisesti liikkuvan osan orientaatioon.15 in a previously determined direction and the orientation of the cyclically moving part of the body (2).
FI20175966A 2017-10-31 2017-10-31 Method and system for determining a direction of movement of an object FI127640B (en)

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FI20175966A FI127640B (en) 2017-10-31 2017-10-31 Method and system for determining a direction of movement of an object
TW107136736A TWI680277B (en) 2017-10-31 2018-10-18 Method and system for determining a direction of movement of an object
US16/168,953 US10555127B2 (en) 2017-10-31 2018-10-24 Method and system for determining a direction of movement of an object
DE102018008402.8A DE102018008402A1 (en) 2017-10-31 2018-10-25 METHOD AND SYSTEM FOR DETERMINING A MOTION DIRECTION OF AN OBJECT
CN201811273073.2A CN109725284B (en) 2017-10-31 2018-10-30 Method and system for determining a direction of motion of an object
US16/693,416 US10708723B2 (en) 2017-10-31 2019-11-25 Method and system for determining a direction of movement of an object
US16/884,118 US10999709B2 (en) 2017-10-31 2020-05-27 Method and system for determining a direction of movement of an object
US17/224,246 US11743687B2 (en) 2017-10-31 2021-04-07 Method and system for determining and tracking an indoor position of an object
US17/343,913 US20210306811A1 (en) 2017-10-31 2021-06-10 Method and system for determining a direction of movement of an object

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