PL424408A1 - Method for stabilization of a position of an object, in particular position of a human and the device for stabilization of a human position - Google Patents

Method for stabilization of a position of an object, in particular position of a human and the device for stabilization of a human position

Info

Publication number
PL424408A1
PL424408A1 PL424408A PL42440818A PL424408A1 PL 424408 A1 PL424408 A1 PL 424408A1 PL 424408 A PL424408 A PL 424408A PL 42440818 A PL42440818 A PL 42440818A PL 424408 A1 PL424408 A1 PL 424408A1
Authority
PL
Poland
Prior art keywords
human
inertial measuring
stabilization
gyroscope
accelerometer
Prior art date
Application number
PL424408A
Other languages
Polish (pl)
Other versions
PL241476B1 (en
Inventor
Michał MEINA
Krzysztof Rykaczewski
Original Assignee
Uniwersytet Mikołaja Kopernika W Toruniu
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Uniwersytet Mikołaja Kopernika W Toruniu filed Critical Uniwersytet Mikołaja Kopernika W Toruniu
Priority to PL424408A priority Critical patent/PL241476B1/en
Priority to PCT/PL2018/050066 priority patent/WO2019177471A1/en
Publication of PL424408A1 publication Critical patent/PL424408A1/en
Publication of PL241476B1 publication Critical patent/PL241476B1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/038—Measuring direction or magnitude of magnetic fields or magnetic flux using permanent magnets, e.g. balances, torsion devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/0206—Three-component magnetometers

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Navigation (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

Sposób ustalenia pozycji obiektu, w szczególności człowieka z użyciem inercyjnych jednostek pomiarowych IMU1 (1) i IMU2 (2), z których każda zawiera trójosiowy akcelerometr i trójosiowy żyroskop, charakteryzuje się tym, że przy zastosowaniu IMU2 (2), który zawiera dodatkowo trójosiowy magnetometr oraz IMU1 (1), który zawiera dodatkowo magnes permanentny, dokonuje się jednoczesnego pomiaru przyspieszenia, prędkości kątowej oraz pola magnetycznego indukowanego przez magnes permanentny, a następnie ich przetworzeniu w module odczytu i przetwarzania danych. Urządzenie do ustalania pozycji obiektu, w szczególności człowieka, składa się z co najmniej jednej pary inercyjnych jednostek pomiarowych połączonych z jednostką odczytu i przetwarzania danych. Pierwsza inercyjna jednostka pomiarowa w parze inercyjnych jednostek pomiarowych zawiera akcelerometr i żyroskop oraz magnes permanentny. Druga inercyjna jednostka pomiarowa zawiera akcelerometr, żyroskop i magnetometr.The method of determining the position of an object, in particular a human using inertial measuring units IMU1 (1) and IMU2 (2), each of which contains a triaxial accelerometer and a triaxial gyroscope, is characterized by the fact that when using IMU2 (2), which also contains a triaxial magnetometer and IMU1 (1), which additionally contains a permanent magnet, simultaneously measures the acceleration, angular velocity and magnetic field induced by the permanent magnet, and then processes them in the data reading and processing module. The device for determining the position of an object, in particular a human being, consists of at least one pair of inertial measuring units connected to a data reading and processing unit. The first inertial measuring unit in a pair of inertial measuring units includes an accelerometer and a gyroscope and a permanent magnet. The second inertial measuring unit includes an accelerometer, gyroscope and magnetometer.

PL424408A 2018-01-29 2018-01-29 Method for stabilization of a position of an object, in particular position of a human and the device for stabilization of a human position PL241476B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL424408A PL241476B1 (en) 2018-01-29 2018-01-29 Method for stabilization of a position of an object, in particular position of a human and the device for stabilization of a human position
PCT/PL2018/050066 WO2019177471A1 (en) 2018-01-29 2018-12-14 A method of object localization, particularly of human beings, and a device for human localization

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PL424408A PL241476B1 (en) 2018-01-29 2018-01-29 Method for stabilization of a position of an object, in particular position of a human and the device for stabilization of a human position

Publications (2)

Publication Number Publication Date
PL424408A1 true PL424408A1 (en) 2019-08-12
PL241476B1 PL241476B1 (en) 2022-10-10

Family

ID=67549872

Family Applications (1)

Application Number Title Priority Date Filing Date
PL424408A PL241476B1 (en) 2018-01-29 2018-01-29 Method for stabilization of a position of an object, in particular position of a human and the device for stabilization of a human position

Country Status (2)

Country Link
PL (1) PL241476B1 (en)
WO (1) WO2019177471A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112066980A (en) * 2020-08-31 2020-12-11 南京航空航天大学 A pedestrian navigation and positioning method based on human four-node motion constraints

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111174781B (en) * 2019-12-31 2022-03-04 同济大学 An Inertial Navigation Positioning Method Based on Joint Target Detection of Wearable Devices
CN111189473A (en) * 2020-01-08 2020-05-22 湖北三江航天红峰控制有限公司 A Gyro Error Compensation Method for Heading and Attitude System Based on Magnetic Sensor and Table
CN114637876B (en) * 2022-05-19 2022-08-12 中国电子科技集团公司第五十四研究所 Rapid localization method of large scene UAV images based on vector map feature expression
CN117168447B (en) * 2023-09-04 2024-05-14 北京泛源时空科技有限公司 A seamless pedestrian positioning method based on foot-bound inertial positioning enhanced by elevation constraints

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7640106B1 (en) * 2005-03-24 2009-12-29 Elbit Systems Ltd. Hybrid tracker
EP2657647A1 (en) * 2012-04-23 2013-10-30 Deutsches Zentrum für Luft- und Raumfahrt e. V. Method for estimating the position and orientation using an inertial measurement unit fixed to a moving pedestrian
KR101642286B1 (en) * 2015-02-12 2016-07-25 한국항공우주연구원 Heading Orientation Estimation Method Using Pedestrian Characteristics in Indoor Environment
CN107582062A (en) * 2017-08-31 2018-01-16 南京华苏科技有限公司 A kind of indoor human body movement locus and Posture acquisition rendering method and device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7640106B1 (en) * 2005-03-24 2009-12-29 Elbit Systems Ltd. Hybrid tracker
EP2657647A1 (en) * 2012-04-23 2013-10-30 Deutsches Zentrum für Luft- und Raumfahrt e. V. Method for estimating the position and orientation using an inertial measurement unit fixed to a moving pedestrian
KR101642286B1 (en) * 2015-02-12 2016-07-25 한국항공우주연구원 Heading Orientation Estimation Method Using Pedestrian Characteristics in Indoor Environment
CN107582062A (en) * 2017-08-31 2018-01-16 南京华苏科技有限公司 A kind of indoor human body movement locus and Posture acquisition rendering method and device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ZAKARIA KASMI, JORG BLANKENBACH, STEP DETECTION FOR ZUPT-AIDED INERTIAL PEDESTRIAN NAVIGATION SYSTEM USING FOOT-MOUNTED PERMANENT MAGNET, 1 October 2016 (2016-10-01) *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112066980A (en) * 2020-08-31 2020-12-11 南京航空航天大学 A pedestrian navigation and positioning method based on human four-node motion constraints
CN112066980B (en) * 2020-08-31 2022-09-27 南京航空航天大学 Pedestrian navigation positioning method based on human body four-node motion constraint

Also Published As

Publication number Publication date
WO2019177471A1 (en) 2019-09-19
PL241476B1 (en) 2022-10-10

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