WO2015058986A1 - Procede de localisation en interieur et exterieur et dispositif portatif mettant en œuvre un tel procede. - Google Patents
Procede de localisation en interieur et exterieur et dispositif portatif mettant en œuvre un tel procede. Download PDFInfo
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- WO2015058986A1 WO2015058986A1 PCT/EP2014/071839 EP2014071839W WO2015058986A1 WO 2015058986 A1 WO2015058986 A1 WO 2015058986A1 EP 2014071839 W EP2014071839 W EP 2014071839W WO 2015058986 A1 WO2015058986 A1 WO 2015058986A1
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- trajectory
- gyrometer
- distance
- proportionality
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Classifications
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- 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
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
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- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Definitions
- the present invention relates to an indoor and outdoor location method, and a portable device implementing such a method. It is applicable for the location of pedestrians in indoor and outdoor environments.
- the invention is particularly applicable for first responders such as for example firefighters or police officers, isolated workers or people with visual or cognitive impairments.
- radio systems such as GPS and Wifi in particular, require transmitters while barometers, magnetometers and inertial sensors operate autonomously.
- barometers for example
- gyrometers providing only a mechanical measurement.
- the classification of these location systems can then be further refined by their integration ability and cost. For example, tactical inertial units integrated into aircraft or missiles are based on expensive but reliable optical gyrometers, while those embedded in mobile terminals are low cost but unreliable.
- a technical problem to be solved is to locate a pedestrian in a constrained environment, for example in the floor of a building or in a dense urban environment, with low cost devices providing the only measures of acceleration and angular velocity, as well as the initial position of the user and a second known position either by this user or by an external system. Moreover, it must be possible to locate the mobile user with good accuracy, of the order of a few meters for example. For the internal location, a difficulty arises when it is necessary to ensure this location by eliminating infrastructure deployed in the environment such as beacons or antennas for example. To position the user, the location device must be equipped with measurement sensors. It estimates the position relative to a starting point and delivers the position information to the user himself or to other entities, such as display stations worn or remote, for example. Since the user is mobile, the device must be compact. A technical solution adopted must therefore minimize the size associated with the sensors.
- Pedometer solutions rely on the measurement of the user's pace of operation. From the measurement of the number of steps and the step length, an estimate of the distance traveled is made. However, if the length of the user's pace changes, for example from a fast walk to a slow walk, the solution can lead to a poor estimate of the distance traveled and therefore the location of the user. Odometer solutions are widely used.
- the device then consists mainly of an inertial unit placed at the foot of the user.
- the acceleration and rotational speed measurements combined with estimated techniques make it possible to estimate the distance traveled by the user.
- a problem related to these solutions is the need for significant computing means to contain the significant drift of the inertial units.
- the location of the sensor on the stand also complicates the implementation.
- the sensors are located at the waist, wrist or arm.
- the distance traveled is estimated from the acceleration measurement.
- these solutions often have reduced performance compared to the "foot-mounted” solution, particularly because of the location of these sensors on the body where the dynamics are less appropriate. They are not used alone but rather hybridized with other techniques to provide orientation information for example. Important calculation means are also necessary.
- a camera equips the user and observes the field in front of the latter.
- This solution commonly combines two steps, that of estimating the advance of the mobile from points of the environment and the recognition of characteristic points. The first step makes it possible to estimate the distance traveled and the second step makes it possible to perform a registration of the position of the user relative to an absolute reference frame.
- a disadvantage of this solution is that it imposes to orient the camera in the moving field of the mobile.
- the camera is sensitive to lighting, orientation and vibration parameters.
- important calculation means are necessary to ensure the location of the mobile.
- the object of the invention is in particular to achieve these objectives.
- the subject of the invention is a method as described by the claims.
- FIG. 2 the result of a correction of angular measurements by affine regression in real time
- FIG. 3 is a block diagram of an exemplary device according to the invention.
- FIG. 4 an example of an algorithm implementing the method according to the invention.
- Figure 1 shows the possible components of a device according to the invention and the steps they implement.
- the invention is described for locating a pedestrian, but it can also be applied to the location of mobile bodies in motion.
- the device comprises at least:
- an inertial unit 1 capable of providing the accelerations of its center of inertia with respect to the terrestrial reference, expressed in its local coordinate system 3D, as well as the angular velocities expressed in this same local coordinate system;
- a calculation unit 2 capable of receiving digital data, for example in matrix form with tools of linear algebra, in real time, and of providing as quickly as possible the result of a calculation;
- a digital processing unit 3 capable of providing the data from the inertial unit 1 to the calculation unit 2 and retrieve the results to write them for example in a file or on a communication port.
- a mobile terminal 4 completes the set.
- This terminal comprises an input interface 5 capable of supplying the digital processing unit with location information known a priori, either by the user or by an external system.
- location information known a priori, either by the user or by an external system.
- a button on the mobile terminal allows you to enter information in the system.
- the display means 6 of the terminal make it possible to restore estimated location information.
- the screen of the mobile terminal makes it possible, for example, to display either a point on a map or numerical values.
- a device solves these three problems in particular while using an estimated navigation method also called “dead-reckoning”.
- This method consists of estimating a 2D position from the distance traveled and projecting it according to the orientation (yaw) of the device over time.
- a preliminary phase of calibrations is performed before engaging this method of "dead-reckoning".
- the calibrations and the position calculation are carried out by the calculation unit 2.
- This unit implements three steps 1 1, 12, 13, the first two 1 1, 12 are two preliminary stages preceding the location by "dead-reckoning" Proper.
- the first step 1 1, static, is performed while the wearer, so the device is immobile.
- the second step 12, dynamic, is performed on a known trajectory.
- the third step 13 performs the location of the carrier by "dead-reckoning" while it performs a free movement.
- the two preliminary steps 1 1, 12 make it possible to obtain coefficients correcting the distance and attitude calculations carried out during the third step 13 of locating the carrier in free movement, the distance and attitude calculations being used by the method from «dead reckoning ". As will be shown later in the description, these coefficients in particular correct the measurement bias of the sensors of the inertial unit.
- the inertial unit 1 is therefore composed of two sensors, a 3D accelerometer and a 3D gyrometer which respectively deliver accelerations and angular velocities. These sensors deliver, for example, measurements along three axes, the accelerometer delivering the accelerations (Ax, Ay, Az) and the gyrometer delivering the angular velocities (Wx, Wy, Wz) of the mechanical reference linked to the inertial unit.
- the measurements from these two sensors are biased by a random systematic measurement constant and are noisy by thermo-electronic effects for example.
- the invention deals with the influence of measurement biases without dealing with noises which can be annoying if they are treated by many known solutions.
- the outputs of the gyrometers are biased. These biases can be estimated in the first preliminary step 1 1 while the wearer is motionless by calculating averages of measured angular velocities, while the angular velocity is ideally a zero vector. The calculated average gives an estimate of the bias.
- this first estimate of bias is not sufficient in the majority of cases to accurately estimate the yaw drift estimated by integration of angular velocities.
- a calibration is then performed on a known trajectory, for example on a rectilinear portion between a point A and a point B when the lace is equal to the initial orientation, that is to say zero.
- the constant integral bias with respect to time creates a linear ramp whose coefficient can be estimated for example by affine regression and then subtracted from the estimated initial value. This calibration is performed during the second preliminary step 12.
- FIG. 2 illustrates the result of the angular correction by affine regression in real time by two curves 21, 22 representing the angular value of the yaw with respect to time.
- a first curve 21 represents the lace without correction where the linear drift is observed with respect to time.
- a second curve 22 represents the yaw with bias correction.
- FIG. 2 illustrates a particular case where the measurements of the gyrometer are corrected by subtraction of a ramp.
- This case may apply in particular when the known trajectory A-B is rectilinear.
- the drift due to the gyrometer measurement bias is estimated by a model, for example linear regression estimating the coefficients of the line representing the linear drift as in the case of Figure 2. Then we subtract the model with orientation estimates (yaw) resulting from the raw measurements of angular velocities given by the gyrometer. It is possible to use another type of regression to calculate a drift model of the gyrometer measurements, especially when the known trajectory is not rectilinear. One can thus use a higher order polynomial regression or any other regression, the aim being to compare a model of evolution of the lace, resulting from the known trajectory portion and impacted by the bias, compared to the raw measurements.
- Accelerometer measurements are also biased.
- the value of the gravity that is difficult to estimate according to each axis of the central 1 since its 3D orientation is unknown.
- the invention uses a quantity called thereafter "jerk" which is the time derivative of the acceleration, corresponding to the third derivative of the distance by compared to time.
- the jerk is defined by a three-dimensional vector:
- dA / dt (dAx / dt, dAy / dt, dAz / dt), where A is the acceleration vector.
- J k the jerk at a moment k, according to the following relation (1):
- a k and A k- being the acceleration vectors at times k and k-1.
- the standard jerk is advantageously used because it is invariant by change of reference.
- This change of reference corresponds here to the passage of the marker of the inertial unit attached to the carrier to the navigation mark attached to the Earth or the building in which moves the carrier.
- the use of the standard jerk avoids the projection errors on the reference the new marker.
- the norm of the jerk is thus integrated with respect to the time, by three times, to obtain the accumulated distance traveled.
- the integrated value directly obtained does not correspond to the cumulative distance but to a proportional value.
- Figure 3 shows a block diagram of a device according to the invention.
- the data provided by the inertial unit that is to say the data of the accelerometer (Ax, Ay, Az) and the data of the gyrometer (Wx, Wy, Wz) are transmitted to the calculation unit 2. These data are for example transmitted at a frequency of the order of 100 Hz.
- the computing unit must be able to manage operations in real time, at least as fast as the arrival frequency of the inertial data, ie about 100 Hz.
- the calculation unit implements the three steps 1 1, 12, 13 described above.
- External information 21 signals the calculation unit which step it must apply, in particular the calculation unit must know if the carrier is stationary for the first step 1 1, if it travels the known portion for the second step 12 or if he is on the move 13.
- This outside information 21 can be activated in different ways. It can be provided by a button-type input device or an external location system, for example of the type RFID or GPS tag readers, provided that this location information is available. The information can therefore be given by the user, via a button or any interface, with for example the following indications on a screen "I am still” for the first step 1 1, "I walk between A and B" for the second step 12 and "locate me” for the third stage 13 in free movement. These situations can also be detected by external locating means which send the information to the computing unit. In the first step 1 1, while the carrier is stationary, the device calculates the average angular velocities from the inertial data.
- the known trajectory of trajectory between a point A and a point B makes it possible to obtain on the one hand the coefficient of proportionality ⁇ between the cumulative distance obtained by integration of the jerk and the real distance traveled, and on the other hand share the coefficients a and ⁇ of the line representing the angular drift of the lace.
- the coefficient of proportionality ⁇ is obtained between the integration of the jerk norm and the real distance, because at the end of the trajectory the distance between the points A and B is known. This factor is particularly given by the AB report int / REE AB AB n e where int is the integration of jerk and AB SOE n e is the known actual distance.
- the integration of the jerk is a triple integration with respect to time, since the jerk is the time derivative of the acceleration given by the accelerometer of the inertial unit. It is in fact three integrations, according to the three axes, of the quantities of Ax / dt, dAy / dt and dAz / dt.
- Ax, Ay and Az are accelerations along the three axes.
- this temporal derivative of the acceleration vector is advantageously used because it makes it possible to eliminate the bias assumed to be constant.
- the norm of the vector is advantageously used because it is invariant, that is to say that it does not depend on the reference considered. This avoids the projection errors accelerations measured in the reference linked to the inertial unit to the navigation mark in which the carrier is located.
- the known trajectory AB allows, if it is rectilinear for example, to know the orientation of the carrier which is the same orientation as the initial orientation.
- the points A and B may be signaled by the user or by an external system of the RFI D or GNSS type, for example, or any other location system.
- An example of identification of this known trajectory can be done using two terminals connected by a wire of known length.
- the first terminal, signaling the point A is thus placed at one point and the wire is then stretched for example in a straight line to put the second terminal, signaling the point B.
- the wire measures 30 meters
- the computing unit then receives the information that the user travels the path between A and B, either by the user himself via the aforementioned interface, or by means of external locations.
- the lace is ideally zero on the rectilinear path portion.
- Figure 2 also shows that the angular velocity bias, assumed constant, derives the attitude linearly with respect to time.
- the attitude and the distance traveled must be estimated from this dynamic step 12.
- the attitude is calculated by integrating the angular velocities, via an integration of quaternions.
- Quaternions are a linear algebra tool that is easy to implement in a computing unit. They have the advantage of avoiding singularity problems, such as Euler angles and cardan lock in particular. That is, the calculation is efficient and fair regardless of the orientation, which is not the case with other methods.
- the distance is calculated by several integrations of the jerk norm and with the proportionality factor.
- the system is not yet operational to navigate the estimate. It is only once the coefficients ⁇ , a and ⁇ are estimated that inertial gross measurements can be exploited 123 while minimizing the impact of biases.
- the system is operational to engage the third locating step 13, in free movement.
- the distance and attitude calculations are corrected by the coefficients resulting from the static calibration (immobility) and the dynamic calibration (rectilinear known trajectory) to provide a two-dimensional position, a speed and an orientation. This step is based on the well-known method of "dead reckoning".
- the navigation is thus based on the technique of "dead reckoning” and is based on an attitude estimation by integrating quaternions and on a distance estimation by integration of the jerk norm.
- the device according to the invention uses the known method of "dead-reckoning” or navigation with the estimate but uses to carry out the localization according to this method the information of distance and yaw obtained respectively by the integration of the standard of the jerk, corrected for the coefficient of proportionality, and by the integration of angular velocities obtained via quaternions and corrected by linear regression.
- FIG. 4 summarizes the possible operation of a device according to the invention and in particular the algorithm executed by the calculation unit 2.
- FIG. 4 illustrates the sequence of steps and the recursive calculations within each step .
- This algorithm implements the steps 1 1, 12, 13 previously described.
- the algorithm is looped between two samplings, for example at the frequency 100 Hz.
- the input data 41 at the instant k pass the various steps of the algorithm.
- the output data 42 completes the input data at the next instant k + 1.
- the input data includes five groups of data:
- the input data at a time k used, in addition to those which precede, during the calibration steps are the following:
- the measurement data are on the one hand the acceleration vectors A, k-1 at time k-1 and the acceleration vector A, k at time k, the calculation of the jerk at time k being calculated from of these two values (see relation (1) above) and on the other hand the vector angular velocity W, k.
- the user or system inputs are derived from the external information: immobile, known trajectory of the trajectory or free movement.
- the previous estimates are the two-dimensional (2D) position R, k calculated in the free-movement phase 13, the attitude quaternion Q, k calculated from the second step 12 and the gross distance D, k on the portion of known trajectory also calculated from this second step.
- the gross distance is the cumulative distance calculated by integration of the jerk before correction by the coefficient of proportionality.
- the constants are the effective distance AB r e n e and the sampling frequency, 100 Hz for example.
- the output data of an algorithm loop are the calibration data and the estimation data.
- the calculation unit 43 estimates the bias by calculating the mean angular velocity vector Wmoy constituting the rough estimation of the biases on the angular velocities, according to the three axes.
- the modified average value will be an input data at time k + 1. It is calculated by recursion, that is to say that:
- Wmoy, k (k / k + 1) Wmoy, k-1 + (1 / k + 1) W, k
- Wmoy, k and Wmoy, k-1 being respectively the average vector calculated at times k and k-1 and W, k the measurement of the angular velocity at time k.
- Recursion saves computing memory and is compatible with a real-time calculation executed between two successive samples.
- the average vector Wmoy obtained at the end of the step will be used in particular in the second step to integrate the attitude quaternion unbiased measurements.
- the computing unit successively performs the calculation 44 of the attitude quaternion, the calculation 45 of the yaw angle by the previously described affine regression giving the orientation of the user, and the integration 46 of the jerk norm.
- r, k and r, k-1 being the coefficient of proportionality respectively at times k and k-1.
- k is the integration of the jerk Jk between the instants k-1 and k, that is to say the gross distance traveled, that is:
- the calculation unit 48 integrates the jerk in the same way as in the second 12, according to the relation (2) above.
- the actual distance 5d, n e k SOE traveled between two sampling instants k-1 and k is calculated by multiplying this integration by the coefficient ⁇ obtained at the end of the second step 12.
- the computing unit determines the location of the user according to the "dead reckoning" method.
- the algorithm of FIG. 4 is a possible mode of implementation of the steps 1 1, 12, 13. Other modes of implementation are possible.
- the first step 1 1 it is possible to calculate the angular velocity Wmoy by a non-recursive method. It is the same in the second step 12 for the calculations of the coefficient ⁇ to deduce the actual distance from the integration of the norm of the jerk, and the a and ⁇ for calculating the angle of the lace.
- the first step 1 1 may not be implemented according to the accuracy that is desired calculation of the attitude.
- Bias offsets solve the problem of time drift.
- these compensations do not in any case involve step detection, which makes it possible to overcome the assumptions of laying the foot on the ground and therefore the periodic immobility of the plant.
- the central can be placed at the level of the belt, and even at another location of the body of the user.
- the invention is compatible with the constraints of real time and moderate use of the memory thanks to the recursion because each state (position, attitude, coefficient of proportionality ⁇ between the norm of the jerk and the distance, coefficients of regression affine a and ⁇ ) can be estimated from its value at the previous instant.
- each state position, attitude, coefficient of proportionality ⁇ between the norm of the jerk and the distance, coefficients of regression affine a and ⁇
- ⁇ coefficient of proportionality
- a device is therefore easy to wear. It comprises an inertial unit, calculation means and display means, a screen for example, in particular for restoring the position by displaying a point on a map. It may also include means for transmitting the location data on a remote server.
- a Kalman filter for example.
- the method implemented by the invention in particular the algorithm executed by the calculation unit 2, enables real-time localization with reduced computing resources with a result similar to that of the devices of the state of the system.
- art in terms of accuracy or better.
- the necessary equipment is low cost and the sensors used, gyrometer and accelerometer, can be miniature. This material is also easily integrated into already commercialized technologies, for example mobile phones.
- the equipment can be quickly installed on the user. It is compact and can equip all types of pedestrians.
- the device can operate alone or be hybridized with another location system.
- this terminal may advantageously be a smartphone-type mobile terminal.
- the computing unit 2 can be connected to a communication port enabling it to communicate with the mobile terminal via a wireless link, of the Wifi or Bluetooth type, possibly by wired connection.
- the wireless communication can be done according to the standard protocol http, allowing the interface with all types of mobile terminals with a web browser. The user can then enter his instructions on the terminal and read the display of location results on the same terminal.
- the invention has been described for locating a pedestrian. It can also apply to locate a person traveling in a wheelchair. More generally, it can be applied to locate moving bodies such as wheeled or crawler vehicles, wagons, or land or air drones.
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Abstract
Description
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/029,240 US20160238395A1 (en) | 2013-10-24 | 2014-10-13 | Method for indoor and outdoor positioning and portable device implementing such a method |
EP14783636.5A EP3060881A1 (fr) | 2013-10-24 | 2014-10-13 | Procede de localisation en interieur et exterieur et dispositif portatif mettant en oeuvre un tel procede. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR1360384 | 2013-10-24 | ||
FR1360384A FR3012597B1 (fr) | 2013-10-24 | 2013-10-24 | Procede de localisation en interieur et exterieur et dispositif portatif mettant en œuvre un tel procede |
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WO2015058986A1 true WO2015058986A1 (fr) | 2015-04-30 |
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PCT/EP2014/071839 WO2015058986A1 (fr) | 2013-10-24 | 2014-10-13 | Procede de localisation en interieur et exterieur et dispositif portatif mettant en œuvre un tel procede. |
Country Status (4)
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US (1) | US20160238395A1 (fr) |
EP (1) | EP3060881A1 (fr) |
FR (1) | FR3012597B1 (fr) |
WO (1) | WO2015058986A1 (fr) |
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CN106937377A (zh) * | 2015-12-29 | 2017-07-07 | 中国移动通信集团公司 | 一种针对监测目标实现分级定位的方法、装置及设备 |
CN109459773A (zh) * | 2018-12-07 | 2019-03-12 | 成都路行通信息技术有限公司 | 一种基于Gsensor的GNSS定位优化方法 |
CN109540133A (zh) * | 2018-09-29 | 2019-03-29 | 中国科学院自动化研究所 | 基于微惯性技术的自适应步态划分方法、系统 |
CN113218395A (zh) * | 2017-06-23 | 2021-08-06 | 北京方位捷讯科技有限公司 | 行人步行轨迹检测方法、装置及系统 |
CN113260544A (zh) * | 2018-12-28 | 2021-08-13 | 爱知制钢株式会社 | 陀螺仪传感器的修正方法 |
CN115512568A (zh) * | 2021-06-07 | 2022-12-23 | 本田技研工业株式会社 | 控制装置、移动体、控制方法和计算机可读存储介质 |
CN113218395B (zh) * | 2017-06-23 | 2024-06-11 | 北京方位捷讯科技有限公司 | 行人步行轨迹检测方法、装置及系统 |
Families Citing this family (6)
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US20160363460A1 (en) * | 2015-06-12 | 2016-12-15 | 7725965 Canada Inc. | Orientation model for inertial devices |
CN107462261B (zh) * | 2017-08-15 | 2020-11-17 | 歌尔光学科技有限公司 | 一种陀螺仪的补偿方法、装置和陀螺仪 |
WO2019120195A1 (fr) * | 2017-12-18 | 2019-06-27 | Fruit Innovations Limited | Système de navigation d'intérieur faisant appel à des capteurs inertiels et à un dispositif à faible énergie de courte longueur d'onde |
CN110751308B (zh) * | 2019-07-27 | 2022-10-14 | 杭州学联土地规划设计咨询有限公司 | 一种土地空间规划与区域边界的确定方法 |
KR102242064B1 (ko) * | 2019-11-08 | 2021-04-19 | 세종대학교산학협력단 | 실내 측위를 위한 기법 |
CN111024075B (zh) * | 2019-12-26 | 2022-04-12 | 北京航天控制仪器研究所 | 一种结合蓝牙信标和地图的行人导航误差修正滤波方法 |
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EP1764583A2 (fr) * | 2005-09-16 | 2007-03-21 | IDT Communication Technology Limited | Systeme et methode de mesure des parameters de demarche |
US20120203487A1 (en) * | 2011-01-06 | 2012-08-09 | The University Of Utah | Systems, methods, and apparatus for calibration of and three-dimensional tracking of intermittent motion with an inertial measurement unit |
US20120277992A1 (en) * | 2011-04-29 | 2012-11-01 | Harris Corporation | Electronic navigation device for a human and related methods |
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US6826477B2 (en) * | 2001-04-23 | 2004-11-30 | Ecole Polytechnique Federale De Lausanne (Epfl) | Pedestrian navigation method and apparatus operative in a dead reckoning mode |
US8810649B2 (en) * | 2011-06-30 | 2014-08-19 | Qualcomm Incorporated | Navigation in buildings with rectangular floor plan |
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2013
- 2013-10-24 FR FR1360384A patent/FR3012597B1/fr not_active Expired - Fee Related
-
2014
- 2014-10-13 EP EP14783636.5A patent/EP3060881A1/fr not_active Withdrawn
- 2014-10-13 US US15/029,240 patent/US20160238395A1/en not_active Abandoned
- 2014-10-13 WO PCT/EP2014/071839 patent/WO2015058986A1/fr active Application Filing
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US20120203487A1 (en) * | 2011-01-06 | 2012-08-09 | The University Of Utah | Systems, methods, and apparatus for calibration of and three-dimensional tracking of intermittent motion with an inertial measurement unit |
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Cited By (10)
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CN106937377A (zh) * | 2015-12-29 | 2017-07-07 | 中国移动通信集团公司 | 一种针对监测目标实现分级定位的方法、装置及设备 |
CN106937377B (zh) * | 2015-12-29 | 2020-04-21 | 中国移动通信集团公司 | 一种针对监测目标实现分级定位的方法、装置及设备 |
CN113218395A (zh) * | 2017-06-23 | 2021-08-06 | 北京方位捷讯科技有限公司 | 行人步行轨迹检测方法、装置及系统 |
CN113218395B (zh) * | 2017-06-23 | 2024-06-11 | 北京方位捷讯科技有限公司 | 行人步行轨迹检测方法、装置及系统 |
CN109540133A (zh) * | 2018-09-29 | 2019-03-29 | 中国科学院自动化研究所 | 基于微惯性技术的自适应步态划分方法、系统 |
CN109459773A (zh) * | 2018-12-07 | 2019-03-12 | 成都路行通信息技术有限公司 | 一种基于Gsensor的GNSS定位优化方法 |
CN113260544A (zh) * | 2018-12-28 | 2021-08-13 | 爱知制钢株式会社 | 陀螺仪传感器的修正方法 |
CN115512568A (zh) * | 2021-06-07 | 2022-12-23 | 本田技研工业株式会社 | 控制装置、移动体、控制方法和计算机可读存储介质 |
US11807262B2 (en) | 2021-06-07 | 2023-11-07 | Honda Motor Co., Ltd. | Control device, moving body, control method, and computer-readable storage medium |
CN115512568B (zh) * | 2021-06-07 | 2023-12-22 | 本田技研工业株式会社 | 控制装置、移动体、控制方法和计算机可读存储介质 |
Also Published As
Publication number | Publication date |
---|---|
US20160238395A1 (en) | 2016-08-18 |
EP3060881A1 (fr) | 2016-08-31 |
FR3012597B1 (fr) | 2019-08-09 |
FR3012597A1 (fr) | 2015-05-01 |
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