Classifications

• • 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
• • 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
• • 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
• • 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.
• 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;
• 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.
• 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 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 constants are the effective distance AB r e n e and the sampling frequency, 100 Hz for example.
• 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:
• 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:

Landscapes

• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Manufacturing & Machinery (AREA)
• Navigation (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=50424354

Family Applications (1)

Country Status (4)

Families Citing this family (13)

Family Cites Families (5)

• 2013
  • 2013-10-24 FR FR1360384A patent/FR3012597B1/fr not_active Expired - Fee Related
• 2014
  • 2014-10-13 US US15/029,240 patent/US20160238395A1/en not_active Abandoned
  • 2014-10-13 EP EP14783636.5A patent/EP3060881A1/de not_active Withdrawn
  • 2014-10-13 WO PCT/EP2014/071839 patent/WO2015058986A1/fr active Application Filing

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