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公开(公告)号：US10337884B2
公开(公告)日：2019-07-02
申请号：US14764470
申请日：2014-03-05
摘要： A method and apparatus for fast magnetometer calibration with little space coverage is described herein. The present method and apparatus is capable of performing both 2-dimensional (2D) and 3-dimensional (3D) calibration for a magnetometer (magnetic sensor) and calculating calibration parameters. The present method and apparatus does not need the user to be involved in the calibration process and there are no required specific movements that the user should perform. The present method and apparatus performs magnetometer calibration in 2D or 3D depending on the natural device movements whatever the application that the magnetometer is used in.
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2.发明授权公开(公告)号：US10267646B2
公开(公告)日：2019-04-23
申请号：US14764519
申请日：2014-01-30
发明人： Medhat Omr , Ahmed Wahdan , Jacques Georgy , Aboelmagd Noureldin
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 depending on the embodiment. 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, the model is built using a nonlinear system identification technique. 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.
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公开(公告)号：US20150354980A1
公开(公告)日：2015-12-10
申请号：US14764470
申请日：2014-03-05
摘要： A method and apparatus for fast magnetometer calibration with little space coverage is described herein. The present method and apparatus is capable of performing both 2-dimensional (2D) and 3-dimensional (3D) calibration for a magnetometer (magnetic sensor) and calculating calibration parameters. The present method and apparatus does not need the user to be involved in the calibration process and there are no required specific movements that the user should perform. The present method and apparatus performs magnetometer calibration in 2D or 3D depending on the natural device movements whatever the application that the magnetometer is used in.
摘要翻译： 本文描述了用于具有很小的空间覆盖的快速磁力计校准的方法和装置。 本方法和装置能够对磁力计（磁传感器）进行二维（2D）和三维（3D）校准，并计算校准参数。 本方法和装置不需要用户参与校准过程，并且没有用户应该执行的所需的特定动作。 本方法和装置根据天然装置的运动，无论使用磁力计的应用如何，都以2D或3D进行磁力计校准。
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4.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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公开(公告)号：US20150039220A1
公开(公告)日：2015-02-05
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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公开(公告)号：US20140372026A1
公开(公告)日：2014-12-18
申请号：US14345170
申请日：2012-02-15
IPC分类号： G01C21/18
CPC分类号： G01C21/18 , G01C21/165 , G01S19/22 , G01S19/47 , G01S19/49
摘要： A navigation module and method for providing an INS/GNSS navigation solution for a device that can either be tethered or move freely within a moving platform is provided, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), an assembly of self-contained sensors capable of obtaining readings (e.g. such as relative or non-reference based navigational information) about the device, and further comprising at least one processor, coupled to receive the output information from the receiver and sensor assembly, and operative to integrate the output information to produce an enhanced navigation solution. The at least one processor may operate to provide a navigation solution by benefiting from nonlinear models and filters that do not suffer from approximation or linearization and which enhance the navigation solution of the device.
摘要翻译： 提供了一种导航模块和方法，用于为可在移动平台内系绳或自由移动的设备提供INS / GNSS导航解决方案，包括用于从外部源（例如卫星）接收绝对导航信息的接收器 ），能够获得关于所述设备的读数（例如诸如相关或非参考的导航信息）的独立传感器的组件，并且还包括耦合以从所述接收器和传感器组件接收输出信息的至少一个处理器 并且可操作地整合输出信息以产生增强的导航解决方案。 所述至少一个处理器可以通过受益于不遭受近似或线性化并且增强设备的导航解决方案的非线性模型和滤波器来提供导航解决方案。
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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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