Movement state information calculation method and movement state information calculation device
US-2016146610-A1 · May 26, 2016 · US
Position calculation method and position calculation device
US9759567B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9759567-B2 |
| Application number | US-201514811323-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jul 28, 2015 |
| Priority date | Jul 31, 2014 |
| Publication date | Sep 12, 2017 |
| Grant date | Sep 12, 2017 |
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Abstract
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A position calculation device includes an acceleration sensor and a gyro sensor to detect a movement of the user which is mounted on the body of the user, an arithmetic processing unit which executes setting a traveling direction axis by using a detection result of the sensor, using a change in a traveling direction of the user and correcting the traveling direction axis, and calculating a position based on the detection result of the sensor by using predetermined constraint condition based on the traveling direction axis.
First claim
Opening claim text (preview).
What is claimed is: 1. A position calculation method, comprising: setting a traveling direction axis of a user by using a detection result of a sensor, wherein a detection result of an acceleration sensor and a detection result of a gyro sensor are included in the detection result of the sensor; estimating a change in a traveling direction of the user and correcting the traveling direction axis based on the estimated change in the traveling direction, wherein: the correcting includes estimating an amount of change that occurs in the traveling direction of the user from the set traveling direction axis, the estimating includes performing correction by using a Kalman filter in which the amount of change that occurs in the traveling direction is set as an element of a state vector and a change in a yaw angle based on the detection result of the gyro sensor is set as an element of an observation vector; and calculating a position by using a movement distance in the traveling direction axis and by using the detection result of the sensor. 2. The position calculation method according to claim 1 , wherein the calculating the position includes correcting the position by using movement limitation to a direction other than a direction along the traveling direction axis as a constraint condition. 3. The position calculation method according to claim 2 , wherein the correcting the position includes performing correction by using a Kalman filter in which an error in the position change is set as an element of a state vector and a position change component to the direction other than the traveling direction axis is set as an element of an observation vector. 4. A position calculation device, comprising: a sensor which detects a movement of a user; an acceleration sensor which detects an acceleration of the user; a gyro sensor; and an arithmetic processing unit which executes: setting a traveling direction axis by using a detection result of the sensor, estimating a change in a traveling direction of the user and correcting the traveling direction axis, wherein: the correcting includes estimating an amount of change that occurs in the traveling direction of the user from the set traveling direction axis, the estimating includes performing correction by using a Kalman filter in which the amount of change that occurs in the traveling direction is set as an element of a state vector and a change in a yaw angle based on the detection result of the gyro sensor is set as an element of an observation vector, and calculating a position based on the detection result of the sensor by using a movement distance in the traveling direction axis.
Assignees
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Classifications
- G01C21/188Primary
for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems · CPC title
initial alignment, calibration or starting-up of inertial devices · CPC title
Pedometers · CPC title
- G01C21/16Primary
by integrating acceleration or speed, i.e. inertial navigation · CPC title
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- What does patent US9759567B2 cover?
- A position calculation device includes an acceleration sensor and a gyro sensor to detect a movement of the user which is mounted on the body of the user, an arithmetic processing unit which executes setting a traveling direction axis by using a detection result of the sensor, using a change in a traveling direction of the user and correcting the traveling direction axis, and calculating a posi…
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification G01C21/188. Mapped technology areas include Physics.
- When was this patent published?
- Publication date Tue Sep 12 2017 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 6 related publications on this page (citations in our corpus or others sharing the same primary CPC).