Granted Patent B2

US 9,544,740 · App. 14/760,624 · Granted Jan 10, 2017

Inventors: Jussi Tapani Parviainen (Pirkkala, FI); Jussi Taneli Collin (Viiala, FI)

Assignee: Nokia Technologies Oy

H04W4/043G01C21/20G01C21/206G06F3/0346G06T3/606G09G5/38H04W4/027G06F2200/1614G09G2340/0464G09G2340/0492G09G2354/00

Abstract

Claims (54)

1. An apparatus, comprising:

at least one processor;

at least one memory including computer program code;

the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to:

measure acceleration of the apparatus with an accelerometer in the apparatus, in mutually orthogonal x and y directions in a horizontal plane and in a vertical direction, due to walking motion of a user in a walking frame of the user, holding the apparatus, the walking motion of the user characterized by the acceleration in the x direction and the y direction being advanced in phase by 90 degrees or close to 90 degrees before the acceleration in the vertical direction;

compute a Fourier transform of the measured acceleration of the apparatus in the vertical direction and determine a frequency of acceleration in the vertical direction having a maximum amplitude in the frequency spectrum;

compute a Fourier transform of the measured acceleration of the apparatus in the x direction and in the y direction and determine a frequency of acceleration in the frequency spectrum in the x direction and a frequency of acceleration in the frequency spectrum in the y direction corresponding to the maximum amplitude frequency of acceleration in the frequency spectrum in the vertical direction;

compute a direction of walking motion of the user, based on the determined frequency of acceleration in the x direction and the frequency of acceleration in the y direction corresponding to the maximum amplitude frequency of acceleration in the vertical direction;

measure an orientation of an apparatus frame of the apparatus with respect to Earth coordinates, with a gyro or magnetometer in the apparatus; and

determine that the apparatus frame has changed its orientation with respect to the walking frame of the user, if both the gyro or magnetometer measurements change and the computed direction of walking motion of the user changes.

2. The apparatus of claim 1 ,

wherein the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to:

determine, by a positioning engine in the apparatus, whether useable signals representing Earth-fixed coordinates are available at a current location;

invoke, by the positioning engine in the apparatus, at least a first programmed application for position determination for outdoor locations when the current location has useable signals available representing Earth-fixed coordinates; and

invoke, by the positioning engine in the apparatus, at least a second programmed application for position determination for indoor locations, using the computed direction of walking motion of the user, when the current location does not have useable signals available representing Earth-fixed coordinates.

3. The apparatus of claim 1 ,

wherein the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to:

display, by a positioning engine in the apparatus, on a display of the apparatus, a map of an area near the user, oriented based on the computed direction of walking motion of the user; and

adjust, by the positioning engine in the apparatus, the displayed orientation of the map to show the direction of walking motion of the user, when orientation of the apparatus changes with respect to the direction of walking motion of the user.

4. The apparatus of claim 1 ,

wherein the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to:

display, by a positioning engine in the apparatus, on a display of the apparatus, a current path traversed by the user on a map of an area near the user, based on the computed direction of walking motion of the user; and

adjust, by the positioning engine in the apparatus, the displayed current path traversed by the user on the map, to show the direction of walking motion of the user, when the user changes the direction of walking with respect to Earth-fixed coordinates.

5. The apparatus of claim 1 , wherein the apparatus is a wireless communications device and configured to:

transmit, by the apparatus, a wireless message to a remote wireless communications device, the wireless message including information related to the computed direction of walking motion of the user; and

receive, by the apparatus, a wireless reply message from the remote wireless communications device, the reply information related to the computed direction of walking motion of the user.

6. The apparatus of claim 5 wherein the apparatus aligns the user's position to a set of fingerprint grid nodes.

7. The apparatus of claim 5 , wherein the apparatus aligns the user's position using a refined model of fingerprint grid nodes.

8. A computer program product comprising computer executable program code recorded on a computer readable non-transitory storage medium, the computer executable program code comprising:

code for measuring in a handheld mobile device, acceleration of the device with an accelerometer in the device, in mutually orthogonal x and y directions in a horizontal plane and in a vertical direction, due to walking motion of a user holding the device, the walking motion of the user characterized by the acceleration in the x direction and the y direction being advanced in phase by 90 degrees or close to 90 degrees before the acceleration in the vertical direction;

code for computing a Fourier transform of the measured acceleration of the device in the vertical direction and determining a frequency of acceleration in the vertical direction having a maximum amplitude in the frequency spectrum;

code for computing a Fourier transform of the measured acceleration of the device in the x direction and in the y direction and determining a frequency of acceleration in the frequency spectrum in the x direction and a frequency of acceleration in the frequency spectrum in the y direction corresponding to the maximum amplitude frequency of acceleration in the frequency spectrum in the vertical direction;

code for computing a direction of walking motion of the user, based on the determined frequency of acceleration in the x direction and the frequency of acceleration in the y direction corresponding to the maximum amplitude frequency of acceleration in the vertical direction;

code for measuring an orientation of a device frame of the device with respect to Earth coordinates, with a gyro or magnetometer in the device; and

code for determining that the device frame has changed its orientation with respect to the walking frame of the user, if both the gyro or magnetometer measurements change and the computed direction of walking motion of the user changes.

9. The computer program product of claim 8 , further comprising:

code for determining, by a positioning engine in the mobile device, whether useable signals representing Earth-fixed coordinates are available at a current location;

code for invoking, by the positioning engine in the mobile device, at least a first programmed application for position determination for outdoor locations when the current location has useable signals available representing Earth-fixed coordinates; and

code for invoking, by the positioning engine in the mobile device, at least a second programmed application for position determination for indoor locations, using the computed direction of walking motion of the user, when the current location does not have useable signals available representing Earth-fixed coordinates.

10. The computer program product of claim 8 , further comprising:

code for displaying, by a positioning engine in the mobile device, on a display of the mobile device, a map of an area near the user, oriented based on the computed direction of walking motion of the user; and

code for adjusting, by the positioning engine in the mobile device, the displayed orientation of the map to show the direction of walking motion of the user, when orientation of the mobile device changes with respect to the direction of walking motion of the user.

11. The computer program product of claim 8 , further comprising:

code for displaying, by a positioning engine in the mobile device, on a display of the mobile device, a current path traversed by the user on a map of an area near the user, based on the computed direction of walking motion of the user; and

code for adjusting, by the positioning engine in the mobile device, the displayed current path traversed by the user on the map, to show the direction of walking motion of the user, when the user changes the direction of walking with respect to Earth-fixed coordinates.

12. The computer program product of claim 8 , wherein the mobile device is a wireless communications device and the computer program product further comprises:

code for transmitting, by the mobile device, a wireless message to a remote wireless communications device, the wireless message including information related to the computed direction of walking motion of the user; and

code for receiving, by the mobile device, a wireless reply message from the remote wireless communications device, the reply information related to the computed direction of walking motion of the user.

13. The computer program product of claim 8 , wherein the mobile device is a wireless communications device and the computer program product further comprises:

code for displaying, by a positioning engine in the mobile device, on a display of the mobile device, a map of an area near the user, oriented based on the computed direction of walking motion of the user; and

code for adjusting, by the positioning engine in the mobile device, the displayed orientation of the map to show the direction of walking motion of the user, when orientation of the mobile device changes with respect to the direction of walking motion of the user, wherein the mobile device is configured to align the user's position to a set of fingerprint grid nodes.

14. The computer program product of claim 8 , wherein the mobile device is a wireless communications device and the computer program product further comprises:

code for displaying, by a positioning engine in the mobile device, on a display of the mobile device, a map of an area near the user, oriented based on the computed direction of walking motion of the user; and

code for adjusting, by the positioning engine in the mobile device, the displayed orientation of the map to show the direction of walking motion of the user, when orientation of the mobile device changes with respect to the direction of walking motion of the user, wherein the mobile device is configured to align the user's position using a refined model of fingerprint grid nodes.

Assignments (12)

Continuity (1)