METHOD FOR INDOOR AND OUTDOOR POSITIONING AND PORTABLE DEVICE IMPLEMENTING SUCH A METHOD

摘要

A locating device equipping a mobile body, comprises an inertial platform, a 3D gyrometer and accelerometer, a calculation unit receiving measurements of the gyrometer and accelerometer a sampling frequency, and means to locate the mobile body, the calculation unit performing: a preliminary step where the mobile body travels a known trajectory, calculation of a coefficient of proportionality between distance actually traveled and raw distance obtained by integrating the time derivative of the acceleration along the trajectory; a following step of free displacement, location of the mobile body by dead-reckoning navigation procedure, being performed by using distance traveled the raw distance corrected by the proportionality coefficient. A model representing drift due to bias of measurements of angular velocities delivered by the gyrometer is calculated by a regression between measurements and orientation of the known trajectory, the measurements considered in the free displacement being measurements corrected by subtraction of the model.

主权项

1. A method for locating a mobile body, wherein, said mobile body being equipped with at least one inertial platform comprising a 3D gyrometer and a 3D accelerometer, said method comprises:
a preliminary step wherein, said mobile body traveling along a known trajectory, a coefficient of proportionality between the known distance actually traveled and the raw distance obtained by integrating the norm of the time derivative of the acceleration over said trajectory is calculated; a following step of free displacement wherein the location of said mobile body is performed by the dead-reckoning navigation procedure, the location being performed by using as distance traveled the raw distance obtained by integrating the norm of the time derivative of the acceleration corrected by the proportionality coefficient.