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公开(公告)号：US11988512B2
公开(公告)日：2024-05-21
申请号：US16630157
申请日：2018-07-13
申请人： SYSNAV
发明人： David Vissiere , Mathieu Hillion
CPC分类号： G01C21/1654 , G01C21/08
摘要： A method for estimating the movement of an object moving in an ambient magnetic field. The method includes acquiring by a magnetic measuring device integral with the object at least one component of the magnetic field and/or at least one i-th derivative of the magnetic field, with n+1≥i≥1, n≥1, at the level of the magnetic measuring device. The method then estimates at least one component of the movement of the object using at least one component of the equation ∇{dot over (n)}B=fn(Ω)·∇nB+gn(∇n+1B)·V, where ∇nB is an n-th derivative of the magnetic field, Ω is the instantaneous angular velocity, V is the instantaneous linear velocity, and fn and gn are predetermined functions.
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公开(公告)号：US11815363B2
公开(公告)日：2023-11-14
申请号：US17251106
申请日：2019-06-12
申请人： SYSNAV
发明人： David Vissiere , Mathieu Hillion , Hendrik Meier
CPC分类号： G01C25/005 , G01C21/16 , G01C21/1654 , G01C22/00 , G01R33/0206
摘要： The present invention relates to a method for calibrating a gyrometer (11) of an object (1) moving in an ambient magnetic field, the method being characterised in that it comprises the steps of:
(a) Acquisition by the gyrometer (11) of a measured angular velocity, and by magnetic measuring means (20) secured to said object (1) of at least two components of the magnetic field;
(b) Determination of values of at least one calibration parameter of the gyrometer (11) minimising a first expression defined by an estimated angular velocity of the object (1) and at least one first magnetic equation on the components of the magnetic field,
the estimated angular velocity being a function of the measured angular velocity and of calibration parameters, and
the at least one first magnetic equation assuming that the magnetic field is uniform and stationary.-
3.发明授权公开(公告)号：US11415420B2
公开(公告)日：2022-08-16
申请号：US16634441
申请日：2018-07-27
申请人： SYSNAV
IPC分类号： G01R33/022 , G01C21/08 , G01C21/16 , G01C21/20
摘要： The invention relates to a method for determining a heading, in which a magnetic field is measured by at least one magnetometer and a magnetic heading is determined from said measurement and in which calculation means implement a processing calculating, for each measurement of magnetic heading, a value for characterising the heading thereby determined, characterised in that said characterisation value is a monotone function of a norm of the measured magnetic field gradient, said value being used in the determination of the heading.
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公开(公告)号：US10996288B2
公开(公告)日：2021-05-04
申请号：US16633147
申请日：2018-07-26
申请人： SYSNAV
摘要： The present invention relates to a method for calibrating a magnetometer (3) in which the magnetometer (3) is arranged inside the windings (21) of a generator (2), a magnetic field being generated by the generator (2), a series of measurements of the magnetic field with the magnetometer (3) being carried out by varying the position of the magnetometer (3) and/or the electric currents in the windings (21) between each measurement, the electric currents applied in the windings (21) also being measured, a parametric transfer model being generated from a parametric measurement model of the magnetometer including parameters for calibrating the magnetometer and a parametric model of the magnetic field, the parameters for calibrating the magnetometer (3) being calculated by an optimisation algorithm from the parametric transfer model and measurements of the magnetic field by the magnetometer and measurements of the currents in the windings.
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公开(公告)号：US10952684B2
公开(公告)日：2021-03-23
申请号：US16073187
申请日：2017-01-24
发明人： Marc Grelet , Eric Dorveaux , David Vissiere , Laurent Servais , Jean-Yves Hogrel , Amelie Moraux
摘要： The present invention relates to a method for estimating the physical activity exerted by an upper limb (10) of a person (1), the method being characterised in that it comprises the steps of: (a) Acquiring, by inertial measurement means (20) solidly attached to a forearm (11) of said upper limb (10) of said person (1), an angular speed of said forearm (11); (b) Estimating, by data processing means (21, 31, 41), a torque exerted by the muscles of an arm (12) of the upper limb (1) on said forearm (11) as a function of the measured angular speeds, of an orientation of said forearm (11), and of physical parameters of said forearm (11); (c) Determining, by the data processing means (21, 31, 41), a power exerted by the upper limb (10) as a function of the estimated torque and of the measured angular speed.
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公开(公告)号：US12042269B2
公开(公告)日：2024-07-23
申请号：US17253567
申请日：2019-06-21
申请人： SYSNAV
发明人： David Vissiere , Marc Grelet
CPC分类号： A61B5/112 , A61B5/1126 , A61B5/6829 , A61B5/7278 , G01C19/00 , G01P13/00 , G01P15/08 , A61B2562/0219
摘要： A method for analyzing the stride of a walking pedestrian. It includes steps of: (a) acquiring, during a recording period, measurements of a motion of a lower limb of the pedestrian, (b) determining each stride made by the pedestrian, (c) dividing the recording period into recording sub-periods, (d) estimating a characteristic quantity of the stride for several detected strides, (e) selecting at least one characteristic stride quantity in a predetermined range of percentiles within a set formed by the estimated characteristic stride quantities, ordered by increasing values and occurring during a recording sub-period, (f) repeating step (e) for several recording sub-periods. The invention also concerns an equipment for analyzing the stride of a walking pedestrian, and a computer program product.
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公开(公告)号：US11280928B2
公开(公告)日：2022-03-22
申请号：US16631149
申请日：2018-07-17
申请人： SYSNAV
发明人： David Vissiere , Mathieu Hillion , Hendrik Meier
IPC分类号： G01B7/14 , G01B7/30 , G01V3/165 , G01B7/004 , G01R33/02 , G01V3/10 , G01V3/38 , G01D5/14 , G01D5/245 , G01B7/00
摘要： The present invention relates to a method for locating an object (1) integral with a triaxial magnetic sensor (2) moving in a magnetic field generated by a set of at least three triaxial magnetic generators (3) static in a common reference frame, the method being characterised in that it includes the steps of: (a) For each generator (3) determining as a function of magnetic field measurements acquired by the sensor (2) and associated with said generator (3) a position of said sensor (2) in said common reference frame; (b) Calculating for each generator (3) a parameter representative of an error on said determined position of the sensor (2) for the generator (3); (c) Selecting a sub-set of the set of generators (3) as a function of said parameters estimated for each of the generators (3) said selected sub-set of the set of generators (3) including each generator (3) for which said estimated parameter is less than at least one reference threshold; (d) Estimating the position of the object (1) by merging the determined positions of the sensor (2) for each generator (3) selected in said sub-set.
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8.发明授权公开(公告)号：US10996059B2
公开(公告)日：2021-05-04
申请号：US16632422
申请日：2018-07-19
申请人： SYSNAV
发明人： David Vissiere , Mathieu Hillion , David Caruso
摘要： The present invention relates to a method for estimating the movement of an object (1) moving in an environment (Σ) and an ambient magnetic field, the method being characterised in that it includes the steps of: (a) Acquisition: by inertial measurement means (24) fixed with respect to said object (1), of at least one component of an acceleration and/or an angular velocity of the object (1), designated inertial datum; by magnetic measurement means (20) fixed with respect to said object (1), of at least one component of the magnetic field and/or an i-th derivative of the magnetic field, at the magnetic measurement means (20), designated magnetic datum; by optical acquisition means (26) fixed with respect to said object (1), of consecutive images of the environment (Σ), designated vision datum; (b) Estimation by the data processing means (21, 31, 41) of at least one component of the movement of said object (1) using the inertial datum, as well as the magnetic datum and/or the vision datum.
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公开(公告)号：US11898872B2
公开(公告)日：2024-02-13
申请号：US16977785
申请日：2019-03-15
申请人： SYSNAV
CPC分类号： G01C25/005 , G01C19/00 , G01C22/025
摘要： The present invention relates to a method for calibrating a gyrometer equipping a vehicle. The method includes a step (a) of acquisition, by the gyrometer, of a measured angular velocity of the vehicle, and, by measuring measured values of at least one quantity representative of the angular velocity of the vehicle. It also includes a step (b) of determination, by a data processor, of values of at least one gyrometer calibration parameter minimising a difference between a first estimated angular velocity of the vehicle and a second estimated angular velocity of the vehicle, wherein the first estimated angular velocity is a function of the measured angular velocity and parameters for calibrating the gyrometer, and the second estimated angular velocity is a function of the measured values of said at least one quantity representative of the angular velocity of the vehicle.
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公开(公告)号：US11709056B2
公开(公告)日：2023-07-25
申请号：US16632284
申请日：2018-07-19
申请人： SYSNAV
发明人： David Vissiere , Mathieu Hillion
CPC分类号： G01C21/08 , G01R33/0206
摘要： Magnetic field measurement by a set of magnetometers which are linked to a same moveable support and which have different orientations of eigendirections with respect to this support A processor determines, during a measurement in a given position and orientation of the support and of the set of magnetometers, for each magnetometer, of the orientation deviation between the eigendirections of the magnetometer and a candidate magnetic field, the magnetometer for which this deviation is minimal, the magnetic field measured by this sensor being selected as the magnetic field measured by the set of magnetometers. The magnetometers are distributed in space in order to cover a maximum of different orientations.
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