Methods, architectures, apparatuses, systems directed to improved dead reckoning for pedestrian navigation
Methods, architectures, apparatuses, systems, devices, and computer program products directed to dead reckoning for pedestrian navigation (“pedestrian dead reckoning”) and robust heading estimation in pedestrian dead reckoning. Pursuant to the methodologies and technologies provided herein, a walking direction may be derived or otherwise determined using a robust heading estimation mechanism in connection with, for example, step detection and step length determination. The robust heading estimation mechanism may be based on device orientation (e.g., on changes in device orientation). The device orientation may be obtained based on (e.g., by way of) fusion of accelerometer and gyroscope measurements.
1. A method directed to pedestrian dead reckoning (PDR) using a device comprising a processor, a three-axis accelerometer and a three-axis gyroscope, the method comprising:
performing step detection of a pedestrian, at the processor, based on acceleration measurements output from the three-axis accelerometer;
obtaining, at the processor, a step length for a detected step;
determining, at the processor, an initial device orientation based on first linear acceleration measurements and first angular velocity measurements output from the three-axis accelerometer and the three-axis gyroscope, wherein the first linear acceleration measurements and the first angular velocity measurements are associated with a start of the detected step;
determining, at the processor, multiple sub-step headings along the step length, wherein each sub-step heading is based on a device orientation relative to the initial device orientation, wherein each device orientation is based on second linear acceleration measurements and second angular velocity measurements output from the three-axis accelerometer and the three-axis gyroscope, and wherein the second linear acceleration measurements and the second angular velocity measurements are associated with a point along the step length;
determining, at the processor, a device trajectory based on the multiple sub-step headings;
determining, at the processor, a step heading as a function of the device trajectory; and
outputting the step heading.
2. The method of claim 1 , wherein determining an initial device orientation comprises:
determining the initial device orientation based on an angular position derived from the first linear acceleration measurements and the first angular velocity measurements.
3. The method of claim 2 , wherein the angular position is referenced to a frame having any of (i) a heading that is not determined from geomagnetic measurements made locally at the device and (ii) an arbitrary heading.
4. The method of claim 1 , wherein the initial device orientation defines a device heading of zero.
5. The method of claim 1 , wherein each device orientation is based on an angular position derived from the second linear acceleration measurement and the second angular velocity measurements.
6. The method of claim 5 , wherein the angular position is referenced to a frame having any of (i) a heading that is not determined from geomagnetic measurements made locally at the device and (ii) an arbitrary heading.
7. The method of claim 5 , wherein determining an initial device orientation comprises:
determining the initial device orientation based on an angular position derived from the first linear acceleration measurements and the first angular velocity measurements.
8. The method of claim 5 , wherein determining an initial device orientation comprises transforming the angular position derived from the first linear acceleration measurements and the first angular velocity measurements to define a PDR frame having a heading of zero degrees; and wherein determining multiple sub-step headings along the step length comprises:
for each device orientation, device heading
transforming the angular position derived from the second linear acceleration measurements and the second angular velocity measurements so as to refer from the PDR frame.
9. The method of claim 1 , wherein obtaining a step length of a detected step comprises:
determining the step length based on the acceleration measurements that correspond to movement of the device along an axis perpendicular to a plane defined by translational movement of the device associated with the detected step.
10. The method of claim 1 , wherein obtaining a step length of a detected step comprises:
determining the step length based on the acceleration measurements that correspond to movement of the device along an axis aligned to gravity.
11. An apparatus comprising a processor, a three-axis accelerometer and a three-axis gyroscope, wherein the processor is configured to:
perform step detection of a pedestrian based on acceleration measurements output from the three-axis accelerometer;
obtain a step length for a detected step;
determine an initial device orientation based on first linear acceleration measurements and first angular velocity measurements output from the three-axis accelerometer and the three-axis gyroscope, wherein the first linear acceleration measurements and the first angular velocity measurements are associated with a start of the detected step;
determine multiple sub-step headings along the step length, wherein each sub-step heading is based on a device orientation relative to the initial device orientation, wherein each device orientation is based on second linear acceleration measurements and second angular velocity measurements output from the three-axis accelerometer and the three-axis gyroscope, and wherein the second linear acceleration measurements and the second angular velocity measurements are associated with a point along the step length;
determine a device trajectory based on the multiple sub-step headings;
determine a step heading as a function of the device trajectory; and
output the step heading.
12. The apparatus of claim 11 , wherein the processor is configured to:
determine the initial device orientation based on an angular position derived from the first linear acceleration measurements and the first angular velocity measurements.
13. The apparatus of claim 12 , wherein the angular position is referenced to a frame having any of (i) a heading that is not determined from geomagnetic measurements made locally at the apparatus and (ii) an arbitrary heading.
14. The apparatus of claim 11 , wherein the initial device orientation defines a device heading of zero.
15. The apparatus of claim 11 , wherein each device orientation is based on an angular position derived from the second linear acceleration measurement and the second angular velocity measurements.
16. The apparatus of claim 15 , wherein the angular position is referenced to a frame having any of (i) a heading that is not determined from geomagnetic measurements made locally at the apparatus and (ii) an arbitrary heading.
17. The apparatus of claim 15 , wherein the processor is configured to: determine the initial device orientation based on an angular position derived from the first linear acceleration measurements and the first angular velocity measurements.
18. The apparatus of claim 15 , wherein the processor is configured to:
determine an initial device orientation at least in part by transforming the angular position derived from the first linear acceleration measurements and the first angular velocity measurements to define a PDR frame having a heading of zero degrees; and
determine the multiple sub-step headings at least in part by:
for each device orientation, device heading
transforming the angular position derived from the second linear acceleration measurements and the second angular velocity measurements so as to refer from the PDR frame.
19. The apparatus of claim 11 , wherein the processor is configured to: determine the step length based on the acceleration measurements that correspond to movement of the device along an axis perpendicular to a plane defined by translational movement of the device associated with the detected step.
20. The apparatus of claim 11 , wherein the processor is configured to:
determine the step length based on the acceleration measurements that correspond to movement of the device along an axis aligned to gravity.