Attitude estimation for pedestrian navigation using low cost MEMS accelerometer in mobile applications, and processing methods, apparatus and systems

摘要

A user-heading determining system (10) for pedestrian use includes a multiple-axis accelerometer (110) having acceleration sensors; a device-heading sensor circuit (115) physically situated in a fixed relationship to the accelerometer (110); an electronic circuit (100) operable to generate signals representing components of acceleration sensed by the accelerometer (110) sensors, and to electronically process at least some part of the signals to produce an estimation of attitude of a user motion with respect to the accelerometer, and further to combine the attitude estimation (750, α) with a device heading estimation (770, ψ) responsive to the device-heading sensor circuit, to produce a user heading estimation (780); and an electronic display (190) responsive to the electronic circuit (100) to display information at least in part based on the user heading estimation. Other systems, circuits and processes are also disclosed.

主权项

1. An electronic circuit for use with a personal accelerometer comprising:
input lines for respective accelerometer signals; a nonvolatile memory having stored representations of instructions to generate a vector average of acceleration signal and a varying magnitude of acceleration signal, and to electronically correlate a sliding window of the respective acceleration signals with the magnitude of acceleration signal; and a processor circuit coupled with the input lines and programmably operable in response to the instructions in the nonvolatile memory for at least addition and multiplication and conditional operations, thereby to effectuate the instructions and to electronically process at least some part of the signals to produce an estimation of attitude angle signal.