METHOD FOR CREATING A MAP RELATING TO LOCATION-RELATED DATA ON THE PROBABILITY OF FUTURE MOVEMENT OF A PERSON

摘要

The invention relates to a method for creating a map relating to location-related data on the probability of the future movement of a person in a spatial environment, such as a building, forest, tunnel system or public place, and in particular a shopping center, airport or train station. In the method according to the invention, at least one person is supplied with one or more sensors (e.g. inertial sensors, rotation rate sensors, optical sensors) for odometrical measurement (odometry) (e.g. attached to a shoe), wherein the odometry has errors due to inherent measurement inaccuracies of the sensor(s) (e.g. angle deviations, length deviations). The at least one person moves by foot through the spatial environment. Information regarding the stride lengths and/or stride direction and/or orientation of the sensor or the person (called odometry information Zu) is determined from the measurement signals of the sensor(s). Based on said odometry information, a map is created using a Bayes estimator (e.g. particle filter, Rao-Blackwellized particle filter, Kaiman filter, Mone-Cario hypothesis filter or combined forms of such filters), the state-variable space thereof (e.g. hypothetical space of the particle of a particle filter) comprising both the current stride (stride length and optionally movement direction change as well) of the person U, odometry errors E (e.g. drift parameters with respect to the determined stride lengths and/or stride direction and/or orientation of the sensor or the person) and also the location-related data on the probabilities of the future movement of the person.