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1.发明申请公开(公告)号：US20200370920A1
公开(公告)日：2020-11-26
申请号：US15929367
申请日：2020-04-28
发明人： Amr Shebl Ahmed , Medhat Omr , Abdelrahman Ali , Jacques Georgy , Christopher Goodall , Billy Cheuk Wai Chan , Qingli Wang
摘要： Feedback for map information is based on an integrated navigation solution for a device within a moving platform using obtained motion sensor data from a sensor assembly of the device, obtained radar measurements for the platform and obtained map information for an environment encompassing the platform. An integrated navigation solution is generated based at least in part on the obtained motion sensor data using a nonlinear state estimation technique that uses a nonlinear measurement model for radar measurements. The map information is assessed based at least in part on the integrated navigation solution and radar measurements so that feedback for the map information can be provided.
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公开(公告)号：US10054442B2
公开(公告)日：2018-08-21
申请号：US14760973
申请日：2014-01-17
发明人： Jacques Georgy , Zainab Syed
摘要： The present disclosure relates to a method and apparatus for enhancing a navigation solution of a device within a platform (such as for example person, vehicle or vessel), wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the device can be tilted to any orientation including vertical or near vertical orientations, while still providing a seamless navigation solution. This method can enhance navigation solutions utilizing measurements from sensors (such as, for example, accelerometers, gyroscopes, magnetometers, etc.), whether in the presence or in the absence of absolute navigational information (such as, for example, GNSS or WiFi positioning).
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3.发明申请Method and Apparatus for Handling Vertical Orientations of Devices for Constraint Free Portable Navigation 审中-公开用于处理无约束便携式导航装置的垂直方向的方法和装置公开(公告)号：US20150354962A1
公开(公告)日：2015-12-10
申请号：US14760973
申请日：2014-01-17
发明人： Jacques Georgy , Zainab Syed
摘要： The present disclosure relates to a method and apparatus for enhancing a navigation solution of a device within a platform (such as for example person, vehicle or vessel), wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the device can be tilted to any orientation including vertical or near vertical orientations, while still providing a seamless navigation solution. This method can enhance navigation solutions utilizing measurements from sensors (such as, for example, accelerometers, gyroscopes, magnetometers, etc.), whether in the presence or in the absence of absolute navigational information (such as, for example, GNSS or WiFi positioning).
摘要翻译： 本公开涉及一种用于增强平台（例如人员，车辆或船只）内的设备的导航解决方案的方法和装置，其中，所述设备的移动性可以在所述平台内被约束或不受约束，并且其中， 设备可以倾斜到任何方向，包括垂直或近垂直方向，同时仍然提供无缝导航解决方案。 该方法可以利用来自传感器（例如，加速度计，陀螺仪，磁力计等）的测量来增强导航解决方案，无论是否存在绝对导航信息（例如，GNSS或WiFi定位 ）。
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公开(公告)号：US10371516B2
公开(公告)日：2019-08-06
申请号：US14761156
申请日：2014-01-21
IPC分类号： G01B21/24 , G01P15/18 , G01C21/16 , G06F3/0346
摘要： The present disclosure relates to a method and apparatus for determining the misalignment between a device and a pedestrian, wherein the pedestrian can carry, hold, or use the device in different orientations in a constrained or unconstrained manner, and wherein the device comprises a sensor assembly. The sensors in the device may be for example, accelerometers, gyroscopes, magnetometers, barometer among others. The sensors have a corresponding frame for the sensors' axes. The misalignment between the device and the pedestrian means the misalignment between the frame of the sensor assembly in the device and the frame of the pedestrian. The present method and apparatus can work whether in the presence or in the absence of absolute navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).
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公开(公告)号：US09488480B2
公开(公告)日：2016-11-08
申请号：US14306118
申请日：2014-06-16
CPC分类号： G01C21/10 , G01C21/165 , G01S19/47 , G01S19/49
摘要： A navigation module and method for providing an INS/GNSS navigation solution for a moving platform, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), means for obtaining speed or velocity information and an assembly of self-contained sensors capable of obtaining readings (e.g., such as relative or non-reference based navigational information) about the moving platform, and further comprising at least one processor, coupled to receive the output information from the receiver, sensor assembly and means for obtaining speed or velocity information, and operative to integrate the output information to produce a navigation solution. The at least one processor may operate to provide a navigation solution by using the speed or velocity information to decouple the actual motion of the platform from the readings of the sensor assembly.
摘要翻译： 一种用于为移动平台提供INS / GNSS导航解决方案的导航模块和方法，包括用于从外部源（例如卫星）接收绝对导航信息的接收机，用于获得速度或速度信息的装置 能够获得关于移动平台的读数（例如，例如基于相关或非参考的导航信息）的独立传感器，还包括至少一个处理器，其被耦合以从接收器接收输出信息，传感器组件和用于 获得速度或速度信息，并且可操作地整合输出信息以产生导航解决方案。 至少一个处理器可以通过使用速度或速度信息来将平台的实际运动与传感器组件的读数分离来提供导航解决方案。
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6.发明申请Method and Apparatus for Determination of Misalignment Between Device and Pedestrian 审中-公开用于确定装置与行人不对准的方法和装置公开(公告)号：US20150354951A1
公开(公告)日：2015-12-10
申请号：US14761156
申请日：2014-01-21
CPC分类号： G01B21/24 , G01C21/16 , G01P15/18 , G06F3/0346
摘要： The present disclosure relates to a method and apparatus for determining the misalignment between a device and a pedestrian, wherein the pedestrian can carry, hold, or use the device in different orientations in a constrained or unconstrained manner, and wherein the device comprises a sensor assembly. The sensors in the device may be for example, accelerometers, gyroscopes, magnetometers, barometer among others. The sensors have a corresponding frame for the sensors' axes. The misalignment between the device and the pedestrian means the misalignment between the frame of the sensor assembly in the device and the frame of the pedestrian. The present method and apparatus can work whether in the presence or in the absence of absolute navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).
摘要翻译： 本公开涉及一种用于确定设备和行人之间的未对准的方法和装置，其中行人可以以约束或无约束的方式携带，保持或使用不同取向的装置，并且其中该装置包括传感器组件 。 装置中的传感器可以是例如加速度计，陀螺仪，磁力计，气压计等。 传感器具有传感器轴的对应框架。 设备和行人之间的未对准意味着设备中的传感器组件的框架与行人的框架之间的未对准。 无论是否存在绝对导航信息更新（例如，全球导航卫星系统（GNSS）或WiFi定位）），本方法和装置都可以工作。
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公开(公告)号：US10228252B2
公开(公告)日：2019-03-12
申请号：US14831706
申请日：2015-08-20
发明人： Jacques Georgy , Zainab Syed , Christopher Goodall
摘要： An apparatus and method are disclosed for enhancing a navigation solution of a portable device and a platform. Motion sensor data may be obtained corresponding to motion of the portable device, such that a first filter may be configured to output a navigation solution and at least one second filter may be configured to use the motion sensor data to generate at least one value. The at least one generated value may then be used with the first filter to enhance the navigation solution output by the first filter.
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公开(公告)号：US09880005B2
公开(公告)日：2018-01-30
申请号：US14883484
申请日：2015-10-14
CPC分类号： G01C21/20 , G01C21/005 , G01C21/165 , G01S19/42 , G01S19/49 , H04W52/0251
摘要： Systems and methods are disclosed for providing a plurality of navigation solutions using a portable sensor device associated with a user. Motion sensor data may be used to derive a first navigation solution using the obtained sensor data under a first set of processing conditions navigation solution and to derive at least a second navigation solution using the sensor data under a second set of processing conditions, wherein the second navigation solution is refined as compared to the first navigation solution. As such, the second navigation solution may represent a more accurate or more complete solution, with the first navigation solution may represent a reduced expenditure of resources. The system includes the portable sensor device and optionally may include an auxiliary device associated with the user and/or remote processing resources. The functions associated with deriving the first and second navigation solutions may be performed by any one or any combination of the portable sensor device, the auxiliary device and/or the remote processing resources.
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公开(公告)号：US20160034817A1
公开(公告)日：2016-02-04
申请号：US14812949
申请日：2015-07-29
发明人： Abdelrahman Ali , Jacques Georgy
CPC分类号： H04W4/027 , G06K9/00342 , H04M1/72569 , H04W4/026
摘要： Systems and methods are disclosed for categorizing a device use case for on foot motion with a portable device. Motion sensor data corresponding to motion of the portable device may be obtained, such as from a sensor assembly of the device. The motions sensor data is processed. Further, a use case characteristic may be determined from the processed and/or raw motion sensor data, an effective frequency may be determined from the processed and/or raw motion sensor data and/or an Eigen use case may be determined. The device use case may then be classified using the processed and/or raw motion sensor data and at least one of the use case characteristic, the effective frequency and the Eigen use case.
摘要翻译： 公开了用于使用便携式设备对用于脚踏运动的设备用例进行分类的系统和方法。 可以获得与便携式设备的运动对应的运动传感器数据，例如来自设备的传感器组件。 处理运动传感器数据。 此外，可以根据经处理和/或原始运动传感器数据确定用例特性，可以根据经处理和/或原始运动传感器数据确定有效频率和/或可以确定特征用例。 然后可以使用经处理和/或原始运动传感器数据以及用例特征，有效频率和特征使用情况中的至少一个来对设备用例进行分类。
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10.发明申请Method and System for Varying Step Length Estimation Using Nonlinear System Identification 审中-公开使用非线性系统识别改变步长估计的方法和系统公开(公告)号：US20150362330A1
公开(公告)日：2015-12-17
申请号：US14764519
申请日：2014-01-30
发明人： Medhat Omr , Ahmed Wahdan , Jacques Georgy , Aboelmagd Noureldin
IPC分类号： G01C22/00
CPC分类号： G01C22/006 , A61B5/112 , A61B5/725 , A61B2562/0219 , G01C21/14
摘要： The present disclosure relates to a method and system for estimating varying step length for on foot motion (such as for example walking or running). The present method and apparatus is able to be used in anyone or both of two different phases. In some embodiments, the first phase is used. In some other embodiments, the second phase is used. In a third group of embodiments, the first phase is used, and then the second phase is used. The first phase is a model-building phase done offline to obtain the nonlinear model for the step length as a function of different parameters that represent human motion dynamics. A nonlinear system identification technique is used for building this model. In the second phase the nonlinear model is used to calculate the step length from the different parameters that represent human motion dynamics used as input to the model. These parameters are obtained from sensors readings from the sensors in the apparatus. This second phase is the more frequent usage of the present method and apparatus for a variety of applications.
摘要翻译： 本公开涉及一种用于估计步行运动（例如步行或跑步）的变化步长的方法和系统。 本方法和装置能够用于两个不同阶段的任何一个或两个阶段。 在一些实施例中，使用第一阶段。 在一些其他实施例中，使用第二阶段。 在第三组实施例中，使用第一阶段，然后使用第二阶段。 第一阶段是离线完成的模型建立阶段，以获得作为代表人类运动动力学的不同参数的函数的步长的非线性模型。 非线性系统识别技术用于构建该模型。 在第二阶段，非线性模型用于从表示用作模型的输入的人类运动动力学的不同参数计算步长。 这些参数是从设备中传感器的传感器读数获得的。 该第二阶段是用于各种应用的本方法和装置的更频繁的使用。
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