The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 14, 2019
Filed:
Jul. 12, 2013
National Institute of Advanced Industrial Science and Technology, Tokyo, JP;
Masakatsu Kourogi, Ibaraki, JP;
Takeshi Kurata, Ibaraki, JP;
Tomoya Ishikawa, Ibaraki, JP;
Takashi Okuma, Ibaraki, JP;
NATIONAL INSTITUTE OF ADVANCE INDUSTRIAL, Tokyo, JP;
Abstract
The present invention provides a device and method for estimating a travel direction of a moving body, the device and method allowing highly accurate estimation of the travel direction even in the case where the positional relationship between the moving body and the self-contained sensing device or the posture is changed freely. The travel direction estimating device includes (i) a gravitational direction vector estimating sectionfor estimating a gravitational direction vector on the basis of respective outputs of an acceleration sensor and an angular velocity sensor, (ii) a tentative travel direction vector generating sectionas a candidate of travel direction vector, (iii) a walk frequency estimating sectionfor estimating a walk frequency from component data resulting from projecting acceleration component data for the gravitational direction vector, and (iv) a travel direction vector determining sectionfor determining an objective function and a phase difference on the basis of a frequency component of a component Af resulting from projecting the acceleration component data for a travel direction vector, a frequency component of a component An resulting from projecting the acceleration component data for a side-to-side direction vector, a frequency component of a component Ws resulting from projecting angular velocity component data for the travel direction vector, a frequency component of a component Wn resulting from projecting the angular velocity component data for the side-to-side direction vector, a walk frequency, and the phase of the walk frequency, selecting as travel direction vectors, tentative travel direction vectors with which the phase difference is within a predetermined range and each of which maximizes the value of the objective function, and determining the side of the travel direction.