WO2008035827A1 - Procédé et appareil de navigation pédestre et appareil pour l'utilisation d'un système d'information géographique - Google Patents

Procédé et appareil de navigation pédestre et appareil pour l'utilisation d'un système d'information géographique Download PDF

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Publication number
WO2008035827A1
WO2008035827A1 PCT/KR2006/003747 KR2006003747W WO2008035827A1 WO 2008035827 A1 WO2008035827 A1 WO 2008035827A1 KR 2006003747 W KR2006003747 W KR 2006003747W WO 2008035827 A1 WO2008035827 A1 WO 2008035827A1
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WO
WIPO (PCT)
Prior art keywords
pedestrian
foot
displacement
walking
ground
Prior art date
Application number
PCT/KR2006/003747
Other languages
English (en)
Inventor
Jongchul Kim
Original Assignee
Jongchul Kim
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.)
Filing date
Publication date
Application filed by Jongchul Kim filed Critical Jongchul Kim
Priority to PCT/KR2006/003747 priority Critical patent/WO2008035827A1/fr
Publication of WO2008035827A1 publication Critical patent/WO2008035827A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/006—Pedometers
    • 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

Definitions

  • This invention concerns a self-contained pedestrian navigation system.
  • GPS Global Positioning System
  • the purpose of this invention is to provide the exact 3D position of a pedestrian in regions where GPS signal is not available, without relying on an infrastructure such as mobile phone relay station, and also to provide a method to determine the exact position by using GIS (Geographic Information System) based on the trajectory obtained by this invention. Consequently, many LBS application such as navigation for blind or climb route guidance in valley will be feasible.
  • GIS Geographic Information System
  • the very simple pedestrian navigation is possible to estimate the total displacement by multiplying the number of strides of a pedometer and the average stride length, or to estimate the net directional displacement by using pedometer combined with digital magnetic compass and gyroscope.
  • More sophisticated pedestrian navigation reflects the variation of stride length according to the slope by estimating the gradient of a slope by using the change of barometric altitude, or calculates the length of each stride by integrating twice the directional acceleration of accelerometer mounted on the user's leg or foot. But the error of the system which calculates stride length with foot's acceleration is too big, even though using very expensive inertial sensor.
  • the stride length can be estimated by applying a scaling multiplier in consideration of pedestrian's walking characteristics by distinguishing the pattern of the acceleration wave of an accelerometer mounted on the user's waist or torso. Or the stride length is predicted by the relationship between the acceleration pattern of the user's body and the distance traveled by the user, which was measured during GPS receiver was operable. [6] However, there exists a limit in these methods to estimate or to predict user's stride length.
  • the estimated stride length may be correct when the user travels in flat land without any obstacle, but there are big discrepancies when he can not walk with his own manner of walking in a steep path with obstacles or in a congested pathway of subway station where he must walk in avoiding collision with other pedestrian.
  • this invention is a kind of self contained navigation system, a method to measure directly the displacement of each step, which is not using empirical data such as dead reckoning, is selected.
  • the map-matching technique is a method to estimate the user's position, which is expected more accurate, within the map produced with a very exact sensor, with the user's position data provided by less accurate sensor. Therefore the map-matching technique is widely used in CNS (Car Navigation System). Disclosure of Invention Technical Problem
  • the primary goal of this invention is to determine the pedestrian's location by measuring user's horizontal and vertical displacement at each step, based upon the characteristics of human locomotion (in which, at all times at least one foot is in contact with the surface and during a brief phase both feet are in contact with the surface in walking, never both feet are in contact with the surface and during a very brief phase one foot is in contact in running), to obtain the same degree of accuracy in positioning as GPS receiver where GPS signal is not available, without relying upon any infrastructure.
  • This invention is fundamentally composed of the basic sensor module (which is composed of a digital clock, a 3 axis accelerometer, a digital magnetic compass, a processing unit and a memory unit), and the goniometers to measure the joint angle changes of human legs for calculating user's stride length, or the sensor to measure the distance from a reference point of human body to user's feet.
  • the basic sensor module which is composed of a digital clock, a 3 axis accelerometer, a digital magnetic compass, a processing unit and a memory unit
  • the goniometers to measure the joint angle changes of human legs for calculating user's stride length, or the sensor to measure the distance from a reference point of human body to user's feet.
  • the acceleration measured by the accelerometer mounted on the body is composed of the horizontal acceleration which repeats the acceleration and deceleration during walking, and the vertical acceleration created by the gravity.
  • Digital magnetic compass can get the azimuth of walking by using the fact that the direction of resultant force detected by accelerometer is vertical for long period, and the change of resultant force during the short period is the horizontal acceleration and deceleration in walking. Also we can count the number of steps by counting the horizontal change of acceleration and deceleration as one period which is equal to one step.
  • the difference of the angle between the horizontal magnetic field and the long period resultant force can be regarded as the slope of the ground where the walker stays. Or, it is possible to define the vertical plane of the gravity detected when the walker took a stand, as the horizontal plane.
  • the east- west and south-north directional horizontal displacement can be calculated by multiplying the sin and cos value of azimuth angle from the digital magnetic compass, by the horizontal displacement H.
  • the sole of the foot is in contact with the ground, when the measured pressure of a pressure gauge attached to the sole is above a threshold value, or when the measured acceleration of an accelerometer attached to the instep is above a threshold value.
  • the transmitter of radio wave and ultrasound generates a pulse including the identification code for both left foot and right foot.
  • a distance vector of the left foot or the right foot from a reference point of pedestrian's body can be obtained by three distances between the receiver and the transmitter, calculated by the time difference of arrival of a radio wave pulse and an ultrasonic pulse
  • the walker can figure out the slope of the ground without measuring the tilt angle of upper and lower leg.
  • the position accuracy can be recovered by substituting the position of the coordinate-correction points which contains three dimensional WGS- 84 coordinate obtained by surveying, for the calculated position of the self-contained navigation device, when a blind pedestrian connects his navigation device to the coordinate- correction point.
  • Figure 1 is to explain the gait mechanism of humankind
  • figure 1-1 is a human body's conceptual diagram widely used in Gait-behavior
  • figure 1-2 is a conceptual diagram of the gait in a view of three components of legs.
  • figure 1-3 is a conceptual diagram of the gait in a view of two components of legs.
  • Figure 2 is a calculation diagram of horizontal displacement as a gait model of a flat land.
  • Figure 3 is a calculation diagram of both horizontal displacement and vertical displacement as a gait model of a gentle slope.
  • Figure 4 is a calculation diagram of both horizontal displacement and vertical displacement as a gait model of a steep slope.
  • Figure 5 is calculation diagram to determine distance vector between left foot and right foot using radio wave and ultrasonic wave, in which transmitters are attached at both feet and three receivers are mounted on the belt.
  • Figure 6 is calculation diagram to determine horizontal displacement H when a person runs on the road. Best Mode for Carrying Out the Invention
  • a power source and an apparatus combined with an operation processor, a 3-axis accelerometer, a digital magnetic compass are installed in a backpack of the climber, and three microphones are fixed in the near the vertical plane of the backpack with a proper space.
  • Two transmitters generating radio wave pulse and ultrasonic pulse when the foot contacts with the ground, are mounted at the instep of the left and right foot.
  • a gait mode is determined by the signal pattern of the 3-axis accelerometer and the distance vector from the reference point to the foot is calculated.
  • GIS such as a guidance of mountain path can be constructed by three dimensional trajectory data.
  • This invention can be applied to acquire accurate position of guidance system for blind pedestrian.
  • position accuracy can be maintained by the correction point installed around the ticket gate of subway.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Measurement Of Distances Traversed On The Ground (AREA)

Abstract

L'invention concerne un système de navigation pédestre pour l'utilisation d'un GIS dans la zone où il est difficile d'acquérir un signal GPS. Le système détermine la position de l'utilisateur par calcul du déplacement horizontal et vertical au moyen des angles d'inclinaison de la jambe supérieure et de la jambe inférieure, ou par mesure du vecteur distance à partir du centre du corps aux pieds, qui est déterminé par les différences de temps d'arrivée de l'impulsion d'onde radio et de l'impulsion ultrasonique transmises par les pieds, lorsque les pieds sont en contact avec le sol, à chaque pas, durant la marche ou la course.
PCT/KR2006/003747 2006-09-21 2006-09-21 Procédé et appareil de navigation pédestre et appareil pour l'utilisation d'un système d'information géographique WO2008035827A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/KR2006/003747 WO2008035827A1 (fr) 2006-09-21 2006-09-21 Procédé et appareil de navigation pédestre et appareil pour l'utilisation d'un système d'information géographique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2006/003747 WO2008035827A1 (fr) 2006-09-21 2006-09-21 Procédé et appareil de navigation pédestre et appareil pour l'utilisation d'un système d'information géographique

Publications (1)

Publication Number Publication Date
WO2008035827A1 true WO2008035827A1 (fr) 2008-03-27

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ID=39200640

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2006/003747 WO2008035827A1 (fr) 2006-09-21 2006-09-21 Procédé et appareil de navigation pédestre et appareil pour l'utilisation d'un système d'information géographique

Country Status (1)

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WO (1) WO2008035827A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100179753A1 (en) * 2009-01-15 2010-07-15 Microsoft Corporation Estimating Time Of Arrival
DE102009000239A1 (de) * 2009-01-15 2010-07-29 Deutsche Telekom Ag Ortung mittels der Detektion von Körpersignalen
WO2011135417A1 (fr) * 2010-04-30 2011-11-03 Hygie-Tech Sa Systeme perenne de localisation 3d d'un individu en progression a l'interieur d'un batiment
JP2015534643A (ja) * 2012-09-21 2015-12-03 コリア・インスティテュート・オブ・サイエンス・アンド・テクノロジー 歩行者モーション認識基盤の歩行者位置推定装置、及びその方法
WO2017034626A1 (fr) * 2015-08-24 2017-03-02 MbientLab Inc. Dispositif de mesure et mémorisation de performances d'escalade
CN107303181A (zh) * 2017-05-17 2017-10-31 浙江利尔达物联网技术有限公司 一种基于六轴传感器的脚步运动识别方法
CN116679834A (zh) * 2023-08-02 2023-09-01 南昌大藏科技有限公司 一种大空间的多人vr互动体验系统及方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10307985A (ja) * 1997-05-08 1998-11-17 Honda Motor Co Ltd 歩行位置検出装置および歩行者用経路案内装置
JP2000046578A (ja) * 1998-07-30 2000-02-18 Matsushita Electric Ind Co Ltd 歩幅測定装置
KR20020001257A (ko) * 2000-06-27 2002-01-09 지규인 Ｇｐｓ와 관성센서를 이용한 개인 위치측정장치 및 방법
KR20050021288A (ko) * 2003-08-25 2005-03-07 소니 가부시끼 가이샤 로봇 장치 및 로봇의 자세 제어 방법
KR20050057011A (ko) * 2002-08-27 2005-06-16 가부시키가이샤 바이테크 휴대 단말 장치
KR20050116587A (ko) * 2004-06-08 2005-12-13 대한지적공사 측량 기준점 표지구를 이용한 측량 표지관리 시스템

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10307985A (ja) * 1997-05-08 1998-11-17 Honda Motor Co Ltd 歩行位置検出装置および歩行者用経路案内装置
JP2000046578A (ja) * 1998-07-30 2000-02-18 Matsushita Electric Ind Co Ltd 歩幅測定装置
KR20020001257A (ko) * 2000-06-27 2002-01-09 지규인 Ｇｐｓ와 관성센서를 이용한 개인 위치측정장치 및 방법
KR20050057011A (ko) * 2002-08-27 2005-06-16 가부시키가이샤 바이테크 휴대 단말 장치
KR20050021288A (ko) * 2003-08-25 2005-03-07 소니 가부시끼 가이샤 로봇 장치 및 로봇의 자세 제어 방법
KR20050116587A (ko) * 2004-06-08 2005-12-13 대한지적공사 측량 기준점 표지구를 이용한 측량 표지관리 시스템

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100179753A1 (en) * 2009-01-15 2010-07-15 Microsoft Corporation Estimating Time Of Arrival
DE102009000239A1 (de) * 2009-01-15 2010-07-29 Deutsche Telekom Ag Ortung mittels der Detektion von Körpersignalen
WO2011135417A1 (fr) * 2010-04-30 2011-11-03 Hygie-Tech Sa Systeme perenne de localisation 3d d'un individu en progression a l'interieur d'un batiment
JP2015534643A (ja) * 2012-09-21 2015-12-03 コリア・インスティテュート・オブ・サイエンス・アンド・テクノロジー 歩行者モーション認識基盤の歩行者位置推定装置、及びその方法
US10557711B2 (en) 2012-09-21 2020-02-11 Korea Institute Of Science And Technology Apparatus for inferring pedestrian position based on pedestrian movement detection, and method therefor
WO2017034626A1 (fr) * 2015-08-24 2017-03-02 MbientLab Inc. Dispositif de mesure et mémorisation de performances d'escalade
CN107303181A (zh) * 2017-05-17 2017-10-31 浙江利尔达物联网技术有限公司 一种基于六轴传感器的脚步运动识别方法
CN116679834A (zh) * 2023-08-02 2023-09-01 南昌大藏科技有限公司 一种大空间的多人vr互动体验系统及方法
CN116679834B (zh) * 2023-08-02 2023-10-24 南昌大藏科技有限公司 一种大空间的多人vr互动体验系统及方法

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