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WO2019177471A1 - Procédé de localisation d'objet, en particulier d'êtres humains, et dispositif de localisation humaine - Google Patents

Procédé de localisation d'objet, en particulier d'êtres humains, et dispositif de localisation humaine Download PDF

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Publication number
WO2019177471A1
WO2019177471A1 PCT/PL2018/050066 PL2018050066W WO2019177471A1 WO 2019177471 A1 WO2019177471 A1 WO 2019177471A1 PL 2018050066 W PL2018050066 W PL 2018050066W WO 2019177471 A1 WO2019177471 A1 WO 2019177471A1
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Prior art keywords
fact
gyroscope
foot
accelerometer
permanent magnet
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Inventor
Michał MEINA
Krzysztof Rykaczewski
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Uniwersytet Mikolaja Kopernika W Toruniu
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Uniwersytet Mikolaja Kopernika W Toruniu
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/038—Measuring direction or magnitude of magnetic fields or magnetic flux using permanent magnets, e.g. balances, torsion devices
    • 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
    • G01C21/1654—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 with electromagnetic compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/0206—Three-component magnetometers

Definitions

  • the core of the invention is the method of establishing the location of an object (particularly, a human being) by means of inertial navigation (with dead reckoning), and a device for localizing an object (particularly, a human being) by dead reckoning, which utilizes a method of relative positioning of the human’s feet to enhance the localization precision.
  • US patent 6549845 describes a setup enabling indoor localization which utilizes a magnetometer (a sensor that measures an matter’s magnetic properties), permanent magnets, pressure sensors (barometers), and a CPU for calculating the length and direction of every step.
  • the data may be presented to the user, preferably on a map, or on the floor, and may be transmitted outside the building in question.
  • US patent 8751151 describes a computer-implemented method of localizing a trac- kee at a location and generating or updating a map of the location based on inertial sensor information, the method being implemented on a computer system that in- eludes one or more physical processors programmed by one or more modules, the method comprising:
  • a location estimate that estimates a location of the trackee based on at least a second subset of the plurality of measurements that is the same as or different from the first subset of the plurality of measurements, wherein a position of the structural feature is determined based on the location estimate;
  • the patent US5899963 describes a device that measures the distance travelled, speed, and height jumped of a moving object or a person while running or walking. Accelerometers and rotational sensors are placed in the object or in the sole of one shoe, or in a wrist watch or the waist of the user, along with an electronic circuit that performs mathematical calculations to determine the distance and height.
  • a microprocessor calculates an output speed based upon step-distance and elapsed time, and the distance traveled from the sum of all previous steps. The output of the microprocessor is coupled to a display that shows the distance traveled, speed, or height jumped.
  • US patent 6786877 describes a self-contained sensor apparatus that generates a signal, which corresponds to at least two of the three orientational aspects of yaw, pitch and roll of a human-scale body, relative to an external reference frame.
  • a sensor generates first sensor signals that correspond to rotational accelerations or rates of the body about certain body axes.
  • the sensor may be mounted to the body. Coupled to the sensor is a signal processor for generating orientation signals relative to the external reference frame that correspond to the angular rate or acceleration signals.
  • the first sensor signals are impervious to interference from electromagnetic, acoustic, optical and mechanical sources.
  • the sensors may be rate sensors.
  • An integrator may integrate the rate signal over time.
  • a drift compensator is coupled to the rate sensors and the integrator.
  • the drift compensator may include a gravitational tilt sensor or a magnetic field sensor or both.
  • a verifier periodically measures the orientation of the body by a means different from the drift sensitive sate sensors.
  • the verifier may take into account characteristic features of human motion, such as stillness periods.
  • the drift compensator may be, in part, a Kalman filter, which may utilize statistical data about human head motion.
  • a Chinese patent CN103591959 reveals a method comprising of the following steps:
  • the positioning method provided by the invention measures the position information of the personnel in real time by means of the sensor which measures data such as pressure, motion acceleration and azimuth angle in real time, so that the method is not only high in positioning precision, but also high in reliability.
  • the patent EP1985233 describes a method which involves acquiring a physical measure along sensible three axes of a sensor e.g. sensible three axis magnetometer sensor. An invariant rotation axis is estimated in a space of the physical measure. The estimated axis is identified. A value of an indicator for indicating the variations of the rotation axis is calculated. The value of the indicator is compared with the predetermined threshold value.
  • Independent claims are also included for the following: (1) a method for estimating movement of a mobile equipped at a sensor (2) a method for calibrating a sensor for determining the rotation matrix (3) a device for detecting a substantially invariant axis of rotation.
  • Utility model CN205066775U presents a high accuracy movement track detection device, wherein: the three-dimensional gesture angle of moving part is measured by inertial sensing locator system, three-dimensional position of moving part and three- dimensional gesture angle are measured by electromagnetism locator system, the three-dimensional positional information of moving part measures in machine vision locator system, an output that is used for data fusion’s treater to connect inertial sen sing locator system, electromagnetism locator system, machine vision locator system simultaneously to fuse the data of three subsystem, obtain moving part’s movement track.
  • a method of determining a heading of a machine having an implement includes determining a first heading data of the machine using an inertial sensor.
  • the method includes determining a second heading data of the machine using a magnetometer.
  • the method includes determining a position of the implement in a stationary state.
  • the method also includes calculating a corrected second heading data based on a predefined relation between the position of the implement in the stationary state and the second heading data.
  • the method further includes determining the heading of the machine based on the first heading data and the corrected second heading data.
  • Patent CN105509736 reveals an indoor composite locating method for fire rescue.
  • the method comprises specific steps as follows: an indoor composite locating system comprising a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetic compass, a barometer, a card reader, an RFID (radio frequency identification) tag and a DSP (digital signal processor) is constructed; a signal acquisition module acqu ires signals of the three-axis accelerometer, the three-axis gyroscope, the three-axis magnetic compass and the barometer; a dead reckoning module acquires location information of rescue workers; a motion state extraction module determines motion states of the rescue workers; a matching correction module corrects locations of the rescue workers; a fixed-point correction module determines the locations of the rescue workers in combination with cartographic information so as to perform fixed-point correction on the locations of the rescue workers.
  • the indoor composite locating me thod for fire rescue realizes high-precision indoor location and
  • US8972182 presents a method for tracking a handheld or head-mounted item, comprising:
  • the clue of the invention is the construction of a method of object localization (particularly, a human being), outside of the range of systems like the GPS, using inertial navigation with dead reckoning, connected with determining the relative lo cation of the object’s feet, which significantly improves the precision of the estimated location, and a device necessary to utilize that method.
  • the original technical effect is achieved by placing a magnet (which induces a magnetic field of a known shape) on one shoe, and a magnetometer on the other shoe of the object (which registers the deviations of the surrounding magnetic field from the expected characteristic).
  • a magnet which induces a magnetic field of a known shape
  • a magnetometer on the other shoe of the object (which registers the deviations of the surrounding magnetic field from the expected characteristic).
  • the method of object localization bases on continuously measuring a set of physical parameters:
  • measurement units IMU1 and IMU2 as presented in Fig. 1, are used. Each of them contains an accelerometer and a gyroscope, and it is assumed that one of them additionally contains a magnetometer, and that there is a permanent magnet placed on the foot where the unit without the magnetometer is positioned.
  • the data obtained from the measurement units presented in Fig. 1, is processed in the reading module in accordance with the steps described below.
  • the processed data are imaged on a display as points corresponding to the position which the object occupies in the set coordinate system, on a plan of the space which the object has traversed.
  • the data is also sent, via radio, to a server for further processing or presentation purposes.
  • the Local Navigation Coordinate Frame is set as the navigation coordinate system, which is a local coordinate system set in reference to a fixed point at the location where the measurements are conducted.
  • the coordinate system can be translated to the International Terrestrial Reference Frame when the ITRF location of a reference point is known in the original space.
  • the processing of the acceleration, angular velocity and magnetic data (described by the magnetic field induction vector), is described by the following sequence of measurement and processing steps:
  • the method used for calculating the changes in orientation, velocity and loca- tion based on readings from IMU1 and IMU2, is a Kalman filter, constructed as described below: (a) Let C m be the orientation matrix of a sensor, relative to a set coordinate system, r m be the location vector and v m be the velocity in the m-th step of the algorithm.
  • At is the time increase, is the acceleration in the navigation coordinate system, and is formulated as:
  • x m is an a priori state of form denotes a transposition
  • the vector u m is a steering factor, and is defined as:
  • an a posteriori location is calculated, which is a location estimation from the inertial navigation circuit, as:
  • T c [x c , y c , z c ⁇ € R 3 is a translation that corrects the location of one of the feet in the navigational coordinate system
  • C c is a transformation given by a unitary matrix, which is a rotation relative to a point given by the location of the last update, i.e. the last point where the last zero-speed phase occured.
  • the point is denoted by c, and all operations relative to that point are denoted with the subscript c.
  • isZV-nonmagnet is the time in movement, when the foot with the inertial measurement unit containing an accelerometer, a gyroscope, and a magnetometer, is motionless; isZV-magnet denotes the time when the foot with the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a permanent magnet, is motionless; pos magnet is the position of the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a permanent magnet; pos nonmagnet is the position of the foot with the inertial measurement unit containing an accelerometer, a gyroscope, and a magnetometer; C magnet is the rotation matrix for the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a permanent magnet; C nonmagnet is the rotation matrix for the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a magnetometer; T c is the location update vector, and C
  • the initial values of pos magnet , O magnet poS nonmagnet oraz need to be set Independently of the method, e.g. can be set manually, by reference to some assumed motions implying location and orientation, or be measured by radio or acoustically.
  • the characteristic of the magnetic induction field in each point surrounding the foot with the permanent magnet must be determi ned.
  • a distribution of the induction values is assumed - a theoretical model of the magnetic field.
  • cost function may be defined e.g.
  • the calibration is performed by triangulating the measurement points 3 ⁇ 4 ⁇ , where the magnetic field magnitude is estimated in a given point as a barycentric average of magnetic induction values in the vertices of the symplex wherein the point resides (created from the triangulation points, which in turn are drawn from the induction measurement points).
  • a different desirable example is to perform the calibration by fitting a dipole field and/or a sum of dipole fields (which requires the tuning of one or a few parameters, dependent on the field parametrization) in such a way, that the theoretical model fits the directions and induction values of the empirical field in all measurement points.
  • the result of the calibration is a theoretical field best fit (as evaluated by the cost function) to the empirical field of the permanent magnet.
  • the updates T c and C c are calculated at the beginning of each phase isZV, by minimizing the expression J(T c , C c ) (which sets the error of the approximation for the empirical field, as measured with a magnetometer, by the theoretical model) over the variables T c and C c .
  • the optimization is ran over all vectors and unitary matrices.
  • the minimization is the search for the variables T c and C c , by fitting the measured empirical properties of the field to the theoretical model, or in another possible example, by minimizing the function obtained by investigating the norm of the difference of the magnetic induction of the empirical field from the induction of the theoretical field. This difference is the value of the norm of the geomagnetic field (the Earth’s natural magnetic field).
  • the exact formulas for both cases are laid out below.
  • the algorithm translates and rotates the path from the last phase isZV in such a way that the magnetic field induction values, as induced by the permanent magnet, are in accordance with the magnetic induction readings in the path’s points.
  • magteor I - geomagnetic For fitting the difference in fields’ norm to the geomagnetic field, the expression minimized is: magteor I - geomagnetic ) , (12)
  • the method recreates the movement path of the sensors, together with their orientation in a common navigational coordinate system, using the inertial sensors IMU1 and IMU2.
  • the device for object localization in particular, a human being, consists of at least one pair of inertial measurement units, connected with a reading and processing unit.
  • the first inertial measurement unit of the pair consists an accelerometer, a gyroscope, and a permanent magnet.
  • the second unit consists of an accelerometer, gyroscope and a magnetometer.
  • the inertial measurement units communicate with the reading and processing unit using a cable, or in a different good scenario, by radio communication, e.g. Bluetooth or Wi-Fi.
  • the reading and processing unit may be equipped, to additionally enable displaying the object’s location.
  • the display may be connected to the reading and processing module by a cable or by radio, prefferably by Bluetooth. To an additional advantage, the display may be placed in the frame of the object’s glasses, replacing one of the lenses.
  • the reading and processing module may contain a database of maps of the locations which the object can traverse, upon which the location points can be drawn.
  • each of the inertial measurement units IMU1 (1) and IMU2 (2) contains an accelerometer and a gyroscope, one of them additionally contains a magnetometer (5), while the other is equipped with a permanent magnet (4).
  • Fig. 5 demonstrates a comparison of the classic inertial navigation method (as per the work by Foxlin) to the method described.
  • Fig. 5 illustrates the traversal of a human of a 59m straight line, from which a location error of 22.75[cm] i 13.26[cm] is obtained for the classic method and the method described, respectively.
  • Fig. 5 also shows the error for the path height estimation, which should be set to 0[m], as the traversal is upon a flat surface.
  • the errors are, on average, 1.15[m] for the classic method and 31.1 [cm] for the method described.
  • the gathered data was processed in the reading and processing module (3), accor ding to the method below.
  • the processing results were displayed on the display (6) as a path which the person traversed in the navigational coordinate system.
  • the acce leration, angular velocity and magnetic field magnitude measurements are processed as per the following algorithm:
  • isZV-nonmagnet is the time in movement, when the foot with the inertial measurement unit containing an accelerometer, a gyroscope, and a magnetometer, is motionless; isZV-magnet denotes the time when the foot with the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a permanent magnet, is motionless; pos magnet is the position of the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a permanent magnet; pos nonmagnel is the position of the foot with the inertial measurement unit containing an accelerometer, a gyroscope, and a magnetometer; C magnet is the rotation matrix for the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a permanent magnet; C non magnet is the rotation matrix for the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a magnetometer; T c is the location update vector, and C
  • the initial values of pos magnet , C magn t > pos nonmagnet oraz C nonmagnet need to be set Independently of the method, e.g. can be set manually, by reference to some assumed motions implying location and orientation, or be measured by radio or acoustically.
  • the updates T c and C c are calculated by minimizing the expression J (T c , C c ) (denoting the approximation error) over T c and C c , prefferably by empirically fitting the magnetic field magnitudes to the theoretical field, on, in another possible setup, by minimizing the function obtained by investigating the norm of the difference of the magnetic induction of the empirical field from the induction of the theoretical field. This difference is the value of the norm of the geomagnetic field (the Earth’s natural magnetic field).
  • the minimized expression takes the form:
  • the magnet (4) placed in the IMU1 inertial measurement unit induces a magnetic field around itself.
  • the modelled theoretical magnetic field is fit (calibrated) to the empirical field by tuning the parameters in such a way, that the theoretical field fa ithfully reproduces the field induced by the permanent magnet (4).
  • the calibration is performed by triangulating the measurement points 3 ⁇ 4 ⁇ , where the magnetic field magnitude is estimated in a given point as a barycentric average of magnetic induc tion values in the vertices of the symplex wherein the point resides (created from the triangulation points, which in turn are drawn from the induction measurement points).
  • the processed data from the sensors IMU1 (1) and IMU2 (2) reproduces the movement paths of the sensors (1) and (2), together with their orientation, in the navigational coordinate system.
  • the device for human localization consists of at least one pair on inertial measu rement units IMU1 (1) and IMU2 (2) connected to a reading and processing module (3).
  • the first inertial measurement unit IMU1 (1) consists of an accelerometer, a gyro- scope, and a permanent magnet 4
  • the second inertial measurement unit IMU2 (2) consists of an accelerometer, gyroscope, and a magnetometer (5).
  • the inertial measu rement units IMU1 (1) and IMU2 (2) communicate with the reading and processing module by means of a cable (not shown in the figure).
  • the reading and processing module (3) is equipped with a radio module for transmitting the person’s location and a display, on which the points corresponding to the human’s location are displayed.
  • Two firefighters conducting a rescue/extinguishing operation in a building fully filled with smoke are equipped with the human locating devices.
  • Two pairs of two iner tial measurement units IMU1 (1) and IMU2 (2) are integrated with the firefighters’ footwear ((1) and (2) are placed on a different shoe on each of the firefighters). Ac celeration, angular velocity and the magnetic fields surrounding the footwear were simultaneously measured.
  • Each of thew inertial measurement units IMU1 (1) and IMU2 (2) in each device has an accelerometer and a gyroscope, one of them is addi tionally equipped with a magnetometer (5), and the other with a permanent magnet ( 4 ) ⁇
  • the data obtained was processed in the reading and processing module (3) by the algorithm presented below.
  • the processed data was imaged on the display (6) as the paths of movement of the firefighters and a location of the object tracked in a set coordinate system.
  • the location information is transmitted to an external pro- gress tracking system for the use of the rescue/extinguishing operation coordinator.
  • the reading and processing module (3) by means of a radio module (7), transmits the location information to the second firefighter’s device, so that each firefighter’s location can be displayed on the display (6) of the device carried by each of the fire fighters, thus informing them of their relative positions.
  • the display (6) also serves as a mean of storing the information about the movement path, in case of possible orientation loss, or in case of intensive visibility obstruction due to high smoke levels.
  • the display (6) is used as a handy mobile device, or integrated into the firefighter’s helmet.
  • Fig. 6 presents the view available to one of the firefighters on his/her display: it shows his current location and movement path, and the location and path of the other firefighter.
  • isZV-magnet calculates the following updates for the foot without the permanent magnet: where isZV-nonmagnet is the time in movement, when the foot with the inertial measurement unit containing an accelerometer, a gyroscope, and a magnetometer, is motionless; isZV-magnet denotes the time when the foot with the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a permanent magnet, is motionless; pos magnet is the position of the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a permanent magnet; pos nonrnagnet is the position of the foot with the inertial measurement unit containing an accelerometer, a gyroscope, and a magnetometer; C magnet is the rotation matrix for the foot with the inertial measurement unit containing an accelerometer, gyroscope, and a permanent magnet; C nonmagnet is the rotation matrix for the
  • the updates T c and C c are calculated by minimizing the expression J(T c , C c ) (denoting the approximation error) over T c and C c , prefferably by empirically fitting the magnetic field magnitudes to the theoretical field, on, in another possible setup, by minimizing the function obtained by investigating the norm of the difference of the magnetic induction of the empirical field from the induction of the theoretical field. This difference is the value of the norm of the geomagnetic field (the Earth’s natural magnetic field).
  • the minimized expression takes the form:
  • the magnet (4) placed in the IMU1 inertial measurement unit induces a magnetic field around itself.
  • the modelled theoretical magnetic field is fit (calibrated) to the empirical field by tuning the parameters in such a way, that the theoretical field faithfully reproduces the field induced by the permanent magnet (4).
  • the calibration is performed by fitting a dipole field and/or a sum of dipole fields, tuning their parameters in such a way, that the theoretical field fits the directions and magnitudes of the empirical field in all points measured.
  • the processed data from the sensors IMU1 (1) and IMU2 (2) reproduces the movement paths of the sensors (1) and (2), together with their orientation, in the navigational coordinate system.
  • the device for human localization consists of at least one pair on inertial measu rement units IMU1 (1) and IMU2 (2) connected to a reading and processing module (3).
  • the first inertial measurement unit IMU1 (1) consists of an accelerometer, a gy- roscope, and a permanent magnet (4).
  • the second inertial measurement unit IMU2 (2) consists of an accelerometer, gyroscope, and a magnetometer (5).
  • the inertial measurement units IMU1 (1) and IMU2 (2) communicate with the reading and pro cessing module by radio.
  • the reading and processing module (3) is equipped with a radio module for transmitting the person’s location and a display, on which the points corresponding to the human’s location are displayed.
  • Faza isZV-nonmagnet is the phase in motion, during which the foot equipped with the inertial measurement unit consisting of an accelerometer, a gyroscope, and a magnetometer, is motionless (determined e.g. using a statistical test).
  • Faza isZV-magnet is the phase in motion, during which the foot with the iner tial measurement unit consisting of an accelerometer, a gyroscope, and a permanent magnet, is motionless.
  • Faza isZV denotes any of the phases isZV-magnet or isZV-nonmagnet.
  • pos magnet denotes the position of the foot equipped with the inertial measurement unit consisting of an accelerometer, a gyroscope, and a permanent magnet.
  • poS nonmagnet denotes the position of the foot equipped with the inertial measurement unit consisting of an accelerometer, a gyroscope, and a magnetometer.
  • C magnet denotes the rotation matrix of the foot equipped with the inertial measure ment unit consisting of an accelerometer, a gyroscope, and a permanent magnet.
  • C nonmagnet denotes the rotation matrix of the foot equipped with the inertial me asurement unit consisting of an accelerometer, a gyroscope, and a magnetometer.
  • T c denotes the location vector update.
  • the vector is a translation (update) in the navigational coordinate system of one of the feet.
  • T c is of form [x c , y c , z c ⁇ £ M 3 .
  • C c denotes the matrix constituting the rotation update. It is a unitary matrix, calculated by minimizing a relevant error function. The possible error functions are discussed in the document.
  • J (T c , C c ) denotes an error function describing the fitting error of the magnetometer readings to the assumed theoretical model. This function is minimized in order to obtain the optimal values of T c and C c in order for the algorithm to function correctly.
  • geomagnetic ⁇ denotes the value (vector norm) of the geomagnetic field in the point Pi of the path.
  • magteor j are the theoretical field values in the point p of the path.
  • Pi is the Z-th point of the path.
  • IMU an Inertial Measurement Unit, equipped with a three-axis gyroscope, and a three-axis accelerometer.
  • C m is the sensor orientation matrix relative to a set coordinate system in the m-th step of the algorithm.
  • r m is the location vector in the m-th step of the algorithm.
  • v m is the velocity in the m-th step of the algorithm. denotes the acceleration in the navigational coordinate system, which is given by equation (2). denotes the acceleration in a coordinate system tied to Earth.
  • C m, m denotes the rotation matrix updates, obtained by integrating gyroscope re adings.
  • I is an identity matrix
  • O is a zero-matrix.
  • H is the observation matrix given by [ o i ] .
  • x m is the a priori state of form [C m , r m , v m ] T , where T denotes transposition.
  • a m is a linear transformation defined by eq. (4).
  • S m is a linear transformation defined by eq. (5).
  • u m is a steering factor defined by eq. (7).
  • P m is the error covariance matrix given by eq. (8).
  • Q is the noise covariance matrix in the Kalman filter.
  • K m is the Kalman matrix given by eq. (9).
  • R is the observation covariance matrix

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Navigation (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

Le procédé de localisation d'objet, en particulier, un être humain, à l'aide d'unités de mesure inertielle IMU1 et IMU2, toutes deux contenant un accéléromètre à trois axes et un gyroscope à trois axes, à l'aide d'IMU2 qui contient en outre un magnétomètre à trois axes et IMU1 contient un aimant permanent, en mesurant simultanément l'accélération, la vitesse angulaire et le champ magnétique induit par l'aimant permanent, et en traitant ultérieurement les mesures dans l'unité de lecture et de traitement en intégrant les lectures sur une période de temps. Le dispositif de localisation d'objet, en particulier un être humain, est constitué d'au moins une paire d'unités de mesure inertielle, reliées à une unité de lecture et de traitement. La première unité de mesure inertielle de la paire contient un accéléromètre, un gyroscope et un aimant permanent, et la seconde contient un gyroscope, un accéléromètre et un magnétomètre.
PCT/PL2018/050066 2018-01-29 2018-12-14 Procédé de localisation d'objet, en particulier d'êtres humains, et dispositif de localisation humaine Ceased WO2019177471A1 (fr)

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PL424408A PL241476B1 (pl) 2018-01-29 2018-01-29 Sposób ustalenia pozycji obiektu, w szczególności człowieka
PLP.424408 2018-01-29

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WO2019177471A1 true WO2019177471A1 (fr) 2019-09-19

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CN111174781A (zh) * 2019-12-31 2020-05-19 同济大学 一种基于可穿戴设备联合目标检测的惯导定位方法
CN111174781B (zh) * 2019-12-31 2022-03-04 同济大学 一种基于可穿戴设备联合目标检测的惯导定位方法
CN111189473A (zh) * 2020-01-08 2020-05-22 湖北三江航天红峰控制有限公司 一种基于磁传感器和加表的航姿系统陀螺误差补偿方法
CN114637876A (zh) * 2022-05-19 2022-06-17 中国电子科技集团公司第五十四研究所 基于矢量地图特征表达的大场景无人机图像快速定位方法
CN114637876B (zh) * 2022-05-19 2022-08-12 中国电子科技集团公司第五十四研究所 基于矢量地图特征表达的大场景无人机图像快速定位方法
CN117168447A (zh) * 2023-09-04 2023-12-05 北京泛源时空科技有限公司 一种通过高程约束增强的足绑式惯性行人无缝定位方法
CN117168447B (zh) * 2023-09-04 2024-05-14 北京泛源时空科技有限公司 一种通过高程约束增强的足绑式惯性行人无缝定位方法

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