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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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公开(公告)号：US11287259B2
公开(公告)日：2022-03-29
申请号：US16634426
申请日：2018-07-27
申请人： SYSNAV
摘要： A method for the determination of heading by magnetic sensors, in which a magnetic field is measured by magnetometers and using recursive processing calculating for a given sampling time. An estimation of a heading prediction which is a function of the heading is determined at the preceding sampling time. A resetting of the predicted heading is then estimated as a function of a magnetic heading determined from magnetometer measurements. During the resetting, the calculating estimates the amplitude of the resetting as a function of a model of the change in magnetic disturbances between two sampling times, and of an a priori estimation of the amplitude of the disturbances.
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公开(公告)号：US20210247206A1
公开(公告)日：2021-08-12
申请号：US16973950
申请日：2019-06-12
申请人： SYSNAV
发明人： David VISSIERE , Mathieu HILLION , Hendrik MEIER
IPC分类号： G01C25/00 , G01C19/5776
摘要： The present invention relates to a method for calibrating magnetometers (20) 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 magnetometers (20), of at least three measured components of the magnetic field around the magnetometers (20), and by inertial measurement means (11) which are secured to the object (1), of an angular velocity of the object (1); (c) Determination, by data processing means (21), of values of at least one calibration parameter of the magnetometers (20) minimising an expression defined by estimated components of the magnetic field and at least one magnetic equation relating to the angular velocity of the object (1), the estimated components of the magnetic field being a function of the measured components of the magnetic field as well as of calibration parameters of the magnetometers (20), and the at least one magnetic equation assuming that the magnetic field is uniform and stationary around the magnetic measurement means (20).
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5.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：US20210088357A1
公开(公告)日：2021-03-25
申请号：US16977785
申请日：2019-03-15
申请人： SYSNAV
摘要： The present invention relates to a method for calibrating a gyrometer (11) equipping a vehicle (1), the method being characterised in that it comprises the steps of: (a) Acquisition by the gyrometer (11), of a measured angular velocity of the vehicle (1), and by means for measuring (20) at least one quantity representative of the angular velocity of the vehicle (1), of measured values of said at least one quantity representative of the angular velocity of the vehicle (1); (b) Determination by data processing means (21) of values of at least one parameter for calibrating the gyrometer (11) minimising a difference between a first estimated angular velocity of the vehicle (1) and a second estimated angular velocity of the vehicle (1), the first estimated angular velocity of the vehicle (1) being a function of the measured angular velocity and parameters for calibrating the gyrometer (11), and the second estimated angular velocity of the vehicle (1) being a function of the measured values of said at least one quantity representative of the angular velocity of the vehicle (1).
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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：US20240271940A1
公开(公告)日：2024-08-15
申请号：US18634863
申请日：2024-04-12
申请人： SYSNAV
发明人： David VISSIERE , Mathieu HILLION
CPC分类号： G01C21/1654 , G01C21/08
摘要： The present invention relates to a method for estimating the movement of an object moving in an ambient magnetic field, the method being characterised in that it comprises the steps of: (a) Acquiring by magnetic measurement means (20) integral with said object (1) at least one component: of the magnetic field and/or; of at least one i-th derivative of the magnetic field, with n+1≥i≥1, n≥1, at the level of the magnetic measurement means (20); and (b) Estimating by the data processing means (21, 31, 41) at least one component of the movement of said object (1) using at least one component of the equation ∇n⋅B=ƒn(Ω)·∇nB+gn(∇n+1B)·V, where ∇nB is an n-th derivative of the magnetic field, Ω the instantaneous angular velocity, V the instantaneous linear velocity, and ƒn and gn predetermined functions.
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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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