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1.发明申请DEVICE FOR ESTIMATING MOVING OBJECT TRAVEL DIRECTION AND METHOD FOR ESTIMATING TRAVEL DIRECTION 审中-公开用于估计移动目标旅行方向的装置和估计旅行方向的方法公开(公告)号：US20150211863A1
公开(公告)日：2015-07-30
申请号：US14411794
申请日：2013-07-12
摘要： The present invention provides a device and method for estimating a travel direction of a moving body, the device and method allowing highly accurate estimation of the travel direction even in the case where the positional relationship between the moving body and the self-contained sensing device or the posture is changed freely.The travel direction estimating device includes (i) a gravitational direction vector estimating section 2407 for estimating a gravitational direction vector on the basis of respective outputs of an acceleration sensor and an angular velocity sensor, (ii) a tentative travel direction vector generating section 2413 as a candidate of travel direction vector, (iii) a walk frequency estimating section 2424 for estimating a walk frequency from component data resulting from projecting acceleration component data for the gravitational direction vector, and (iv) a travel direction vector determining section 2425 for determining an objective function and a phase difference on the basis of a frequency component of a component Af resulting from projecting the acceleration component data for a travel direction vector, a frequency component of a component An resulting from projecting the acceleration component data for a side-to-side direction vector, a frequency component of a component Ws resulting from projecting angular velocity component data for the travel direction vector, a frequency component of a component Wn resulting from projecting the angular velocity component data for the side-to-side direction vector, a walk frequency, and the phase of the walk frequency, selecting as travel direction vectors, tentative travel direction vectors with which the phase difference is within a predetermined range and each of which maximizes the value of the objective function, and determining the side of the travel direction.
摘要翻译： 本发明提供一种用于估计移动体的行进方向的装置和方法，该装置和方法即使在移动体和独立的感测装置之间的位置关系的情况下也允许高度精确地估计行进方向，或者 姿势自由变化。 行驶方向估计装置包括：（i）重力方向矢量估计部2407，用于基于加速度传感器和角速度传感器的各个输出来估计重力方向矢量;（ii）试验行进方向矢量生成部2413， 旅行方向矢量的候选者，（iii）行驶频率推定部2424，用于根据重力方向矢量的加速度分量数据的投影得到的分量数据估计步行频率，以及（iv）行驶方向矢量确定部2425， 基于通过投影用于行驶方向矢量的加速度分量数据而产生的分量Af的频率分量的目标函数和相位差，由侧向对齐的加速度分量数据投影得到的分量An的频率分量， 侧方向矢量，分量Ws的频率分量得到 g，通过投影用于行进方向矢量的角速度分量数据，通过投影用于侧向方向矢量的角速度分量数据，步行频率和步行频率的相位而产生的分量Wn的频率分量， 选择行驶方向向量，相位差在预定范围内的每个最大化目标函数的值的行进方向向量，以及确定行进方向的一侧。
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2.发明授权公开(公告)号：US10288431B2
公开(公告)日：2019-05-14
申请号：US14411794
申请日：2013-07-12
摘要： The present invention provides a device and method for estimating a travel direction of a moving body, the device and method allowing highly accurate estimation of the travel direction even in the case where the positional relationship between the moving body and the self-contained sensing device or the posture is changed freely.The travel direction estimating device includes (i) a gravitational direction vector estimating section 2407 for estimating a gravitational direction vector on the basis of respective outputs of an acceleration sensor and an angular velocity sensor, (ii) a tentative travel direction vector generating section 2413 as a candidate of travel direction vector, (iii) a walk frequency estimating section 2424 for estimating a walk frequency from component data resulting from projecting acceleration component data for the gravitational direction vector, and (iv) a travel direction vector determining section 2425 for determining an objective function and a phase difference on the basis of a frequency component of a component Af resulting from projecting the acceleration component data for a travel direction vector, a frequency component of a component An resulting from projecting the acceleration component data for a side-to-side direction vector, a frequency component of a component Ws resulting from projecting angular velocity component data for the travel direction vector, a frequency component of a component Wn resulting from projecting the angular velocity component data for the side-to-side direction vector, a walk frequency, and the phase of the walk frequency, selecting as travel direction vectors, tentative travel direction vectors with which the phase difference is within a predetermined range and each of which maximizes the value of the objective function, and determining the side of the travel direction.
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公开(公告)号：US10527424B2
公开(公告)日：2020-01-07
申请号：US14890278
申请日：2014-05-14
摘要： An angle offset judging device (1) includes: an azimuth histogram generating section (126) for obtaining an appearance frequency of estimated azimuths; and an evaluating section (127) for making an evaluation of whether or not the appearance frequency thus obtained shows a tendency which is observed in a case where an azimuth is properly estimated under a binding condition concerning an advancing direction of a movement of a moving body.
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