CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE (CNRS) (France)
UNIVERSITE PARIS-SACLAY (France)
Inventor
Vissiere, David
Hillion, Mathieu
Guerret, François
Meier, Hendrik
Girard, Antoine
Prieur, Christophe
Abstract
The invention relates to a method for determining at least one component of the positioning of a receiver (24) relative to a transmitter (22), the transmitter (22) comprising at least two magnetic generators (30, 32, 34), the method comprising the following steps: - measuring a resulting magnetic field; - demodulating the measurement signal so as to determine a plurality of candidate measurements; - applying, to each candidate measurement, a correction that aims to compensate for a directional orthogonality defect in the magnetic generators (30, 32, 34) so as to obtain a corresponding corrected measurement; - calculating a value representative of the likelihood that this candidate measurement reflects the actual contributions of each alternating magnetic field; - selecting a selected measurement corresponding to the highest likelihood; and - determining the at least one component of the positioning of the receiver (24).
G01S 1/04 - Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmittersReceivers co-operating therewith using radio waves Details
G01R 33/00 - Arrangements or instruments for measuring magnetic variables
G01R 33/02 - Measuring direction or magnitude of magnetic fields or magnetic flux
G01R 33/36 - Electrical details, e.g. matching or coupling of the coil to the receiver
G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
2.
METHOD FOR ESTIMATING THE MOVEMENT OF AN OBJECT MOVING IN A MAGNETIC FIELD
The present invention relates to a method for estimating the movement of an object moving in an ambient magnetic field, the method being characterised in that it comprises the steps of: (a) Acquiring by magnetic measurement means (20) integral with said object (1) at least one component: of the magnetic field and/or; of at least one i-th derivative of the magnetic field, with n+1≥i≥1, n≥1, at the level of the magnetic measurement means (20); and (b) Estimating by the data processing means (21, 31, 41) at least one component of the movement of said object (1) using at least one component of the equation ∇n⋅B=ƒn(Ω)·∇nB+gn(∇n+1B)·V, where ∇nB is an n-th derivative of the magnetic field, Ω the instantaneous angular velocity, V the instantaneous linear velocity, and ƒn and gn predetermined functions.
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth
3.
METHOD FOR ESTIMATING A TRAJECTORY OF A POINT OF INTEREST
This method for estimating a trajectory, over a displacement interval, of a point of interest belonging to a limb of an individual comprises estimating (1320) the evolution, during the displacement interval, of a speed of a measurement point integral with the point of interest, estimating (1310) the evolution of an orientation of the measurement point during the displacement interval, and estimating the trajectory of the point of interest during the displacement interval from the estimated speed and orientation of the measurement point.
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 5/22 - ErgometryMeasuring muscular strength or the force of a muscular blow
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
4.
METHOD FOR CORRECTING AN ATTITUDE PROVIDED BY A DEAD RECKONING NAVIGATION SYSTEM BY MEANS OF A RELATIVE POSITIONING SYSTEM
The invention relates to an attitude correction method (107) comprising estimating (116), by means of a dead reckoning navigation system (22), multiple estimated positions of the dead reckoning navigation system (22) in an arbitrary fixed reference frame at times of determination, obtaining (114) positions, evaluated by a relative positioning system (24), of the dead reckoning navigation system (22) in a predetermined fixed reference frame at the determination times and inferring (124) at least one attitude correction parameter by minimising a cost function comparing the evaluated positions with the estimated positions corrected by means of the or each correction parameter.
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Scientific (other than for medical use), nautical,
surveying, photographic, cinematographic, optical, weighing,
measuring, signaling, checking (supervision), life-saving
and teaching apparatus and instruments; apparatus and
instruments for conducting, switching, transforming,
accumulating, regulating or controlling electricity;
apparatus for recording, transmission, reproduction or
processing of sound or images; magnetic recording media,
optical or sound recording disks; floppy disks; equipment
for data processing and computers; fire extinguishers; game
software; software (recorded programs); computer peripheral
devices; electric batteries; detectors; electric wires;
electric relays; diving suits, gloves or masks; protection
devices for personal use against accidents; spectacles
(optics); eyewear; spectacle cases; diagnostic apparatus not
for medical use; integrated circuit cards [smart cards]. Surgical, medical, dental and veterinary apparatus and
instruments, artificial limbs, eyes and teeth; orthopedic
articles; suture material; prostheses; artificial implants;
armchairs for medical or dental use; special furniture for
medical use; orthopedic footwear. Vehicles; apparatus for locomotion by land, air or water;
motors and engines for land vehicles; suspension shock
absorbers for vehicles; vehicle bodies; anti-skid chains;
vehicle chassis or bumpers; safety belts for vehicle seats;
electric vehicles; caravans; tractors; mopeds; cycles. Evaluations, assessments and research in the fields of
science and technology provided by engineers; design and
development of computers and software; research and
development of new products for third parties; technical
project studies; development (design), installation,
maintenance, updating or rental of software; computer
programming; consultation with respect to computers;
conversion of computer programs and data, other than
physical conversion; conversion of data or documents from
physical to electronic media; styling (industrial design).
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Système mondial de localisation (GPS) consistant en ordinateurs, logiciels, transmetteurs, récepteurs et unités d'interface réseau; disques magnétiques, acoustiques et optiques vierges; disquettes vierges; extincteurs; logiciels de jeux; batteries électriques pour ordinateurs portables, tablettes et téléphones intelligents; détecteurs à ultrasons ; fils électriques; relais électriques; combinaisons, costumes, gants ou masques de plongée; écrans de protection du visage contre les accident; lunettes (optique); étuis à lunettes; instrument de diagnostic composé de caméras vidéo et d'images fixes et de miroirs destinés à être utilisés pour la collecte de données sur l'état et le diagnostic des véhicules; cartes de mémoire vive.
(2) Membres, yeux et dents artificiels; prothèses artificielles; matériel de suture; implants artificiels; fauteuils à usage médical ou dentaire; chaussures orthopédiques.
(3) Voitures; avions; hélicoptères; bateau de plaisance; moteurs pour véhicules terrestres; amortisseurs de suspensions pour véhicules; carrosseries; chaînes antidérapantes; châssis ou pare-chocs de véhicules; ceintures de sécurité pour sièges de véhicules; véhicules à moteur électrique; caravanes; tracteurs; vélomoteurs; cycles à moteur électrique. (1) Conseils, nommément évaluations et estimations, et recherches dans le domaine de l'ingénierie logicielle et de l'ingénierie médicale ; conception et développement d'ordinateurs et de logiciels; recherche et développement de nouveaux produits pour des tiers; études de projets techniques dans le domaine de la navigation et la géolocalisation; élaboration (conception), installation, maintenance, mise à jour ou location de logiciels informatiques; programmation pour ordinateur; consultation en matière d'ordinateurs; conversion de données et de programmes informatiques, nommément de codes informatiques, pour les autres; conversion de données ou de documents d'un support physique vers un support électronique; dessin d'esthétique industrielle, nommément d'art industriel.
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
G01R 33/02 - Measuring direction or magnitude of magnetic fields or magnetic flux
A method for analyzing the stride of a walking pedestrian. It includes steps of: (a) acquiring, during a recording period, measurements of a motion of a lower limb of the pedestrian, (b) determining each stride made by the pedestrian, (c) dividing the recording period into recording sub-periods, (d) estimating a characteristic quantity of the stride for several detected strides, (e) selecting at least one characteristic stride quantity in a predetermined range of percentiles within a set formed by the estimated characteristic stride quantities, ordered by increasing values and occurring during a recording sub-period, (f) repeating step (e) for several recording sub-periods. The invention also concerns an equipment for analyzing the stride of a walking pedestrian, and a computer program product.
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
G01C 19/00 - GyroscopesTurn-sensitive devices using vibrating massesTurn-sensitive devices without moving massesMeasuring angular rate using gyroscopic effects
G01P 13/00 - Indicating or recording presence or absence of movementIndicating or recording of direction of movement
G01P 15/08 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values
10.
Method for calibrating a gyrometer equipping a vehicle
The present invention relates to a method for calibrating a gyrometer equipping a vehicle. The method includes a step (a) of acquisition, by the gyrometer, of a measured angular velocity of the vehicle, and, by measuring measured values of at least one quantity representative of the angular velocity of the vehicle. It also includes a step (b) of determination, by a data processor, of values of at least one gyrometer calibration parameter minimising a difference between a first estimated angular velocity of the vehicle and a second estimated angular velocity of the vehicle, wherein the first estimated angular velocity is a function of the measured angular velocity and parameters for calibrating the gyrometer, and the second estimated angular velocity is a function of the measured values of said at least one quantity representative of the angular velocity of the vehicle.
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
G01C 19/00 - GyroscopesTurn-sensitive devices using vibrating massesTurn-sensitive devices without moving massesMeasuring angular rate using gyroscopic effects
G01C 22/02 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
11.
Method for estimating the movement of an object moving in a magnetic field
A method for estimating the movement of an object moving in an ambient magnetic field. The method acquires at least one component of the magnetic field and/or an i-th derivative of the magnetic field measures at least one item of information representative of the movement of the object; evaluates the stationary or otherwise character of the magnetic field; estimates at least one component of the movement of the object using at least one equation other than magnetic linking the component of the movement of the object and the at least one acquired item of information representative of the movement of the object depending on the result of the evaluation at least one magnetic equation linking the component of the movement of the object and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field.
G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
A method for calibrating a magnetometer. The magnetometer travels through (Si) a set of path positions, and acquires (S2) a plurality of measurements of the magnetic field. Trajectory information (S3) is provided representative of the location and the orientation of a point integral with the magnetometer. The measurements of the magnetic field are matched up (S4) with the trajectory information. A determination (S5) is made of calibration parameters of the magnetometer by the minimisation of a cost function involving, for a plurality of determination times, at least the calibration parameters, a measurement of the magnetic field, and a relationship linking the change in a magnetic field with the change in the location and in the orientation of the magnetometer derived from the trajectory information.
G01B 7/14 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
G01B 7/30 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapersMeasuring arrangements characterised by the use of electric or magnetic techniques for testing the alignment of axes
G01V 3/165 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with magnetic or electric fields produced or modified by the object or by the detecting device
G01B 7/004 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
G01R 33/02 - Measuring direction or magnitude of magnetic fields or magnetic flux
G01V 3/10 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
G01V 3/38 - Processing data, e.g. for analysis, for interpretation or for correction
G01D 5/14 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
G01D 5/245 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trainsMechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means generating pulses or pulse trains using a variable number of pulses in a train
G01B 7/00 - Measuring arrangements characterised by the use of electric or magnetic techniques
09 - Scientific and electric apparatus and instruments
Goods & Services
Scientific apparatus and instruments for inertial
measurement of movement and muscular activity; apparatus for
recording and transmitting data related to movement and
muscular activity; data processing equipment, particularly
relating to movement; software embedded in devices for
inertial measurement of movement; measuring devices,
particularly for movement; electric monitoring apparatus;
inertial movement measuring devices connected to the
Internet, particularly in the form of bracelets;
magneto-inertial sensors.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Scientific apparatus and instruments for inertial
measurement of movement and muscular activity; apparatus for
recording and transmitting data related to movement and
muscular activity; data processing equipment, particularly
relating to movement; software embedded in devices for
inertial measurement of movement; measuring devices,
particularly for movement; electric monitoring apparatus;
inertial movement measuring devices connected to the
Internet, particularly in the form of bracelets;
magneto-inertial sensors. Surgical apparatus and instruments; therapeutic and
assistance devices designed for people with disabilities;
analysis apparatus for medical use, particularly for
measuring muscular activity; analysis apparatus for medical
use in neurology; diagnostic apparatus for medical use,
particularly for measuring muscular activity; bracelets for
medical use; electrodes for medical use; traction apparatus
for medical use; surgical implants comprised of artificial
materials; physical rehabilitation apparatus for medical
use; tomograph for medical use.
16.
Method for estimating the movement of an object moving in an environment and a magnetic field
(b) Estimation by the data processing means (21, 31, 41) of at least one component of the movement of said object (1) using the inertial datum, as well as the magnetic datum and/or the vision datum.
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G06T 7/277 - Analysis of motion involving stochastic approaches, e.g. using Kalman filters
17.
Method and device for characterising a heading determined from the measurement of the magnetic field
The invention relates to a method for determining a heading, in which a magnetic field is measured by at least one magnetometer and a magnetic heading is determined from said measurement and in which calculation means implement a processing calculating, for each measurement of magnetic heading, a value for characterising the heading thereby determined, characterised in that said characterisation value is a monotone function of a norm of the measured magnetic field gradient, said value being used in the determination of the heading.
G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/20 - Instruments for performing navigational calculations
The present invention relates to a method for calibrating a magnetometer (3) in which the magnetometer (3) is arranged inside the windings (21) of a generator (2), a magnetic field being generated by the generator (2), a series of measurements of the magnetic field with the magnetometer (3) being carried out by varying the position of the magnetometer (3) and/or the electric currents in the windings (21) between each measurement, the electric currents applied in the windings (21) also being measured, a parametric transfer model being generated from a parametric measurement model of the magnetometer including parameters for calibrating the magnetometer and a parametric model of the magnetic field, the parameters for calibrating the magnetometer (3) being calculated by an optimisation algorithm from the parametric transfer model and measurements of the magnetic field by the magnetometer and measurements of the currents in the windings.
Magnetic field measurement by a set of magnetometers which are linked to a same moveable support and which have different orientations of eigendirections with respect to this support A processor determines, during a measurement in a given position and orientation of the support and of the set of magnetometers, for each magnetometer, of the orientation deviation between the eigendirections of the magnetometer and a candidate magnetic field, the magnetometer for which this deviation is minimal, the magnetic field measured by this sensor being selected as the magnetic field measured by the set of magnetometers. The magnetometers are distributed in space in order to cover a maximum of different orientations.
A method for the determination of heading by magnetic sensors, in which a magnetic field is measured by magnetometers and using recursive processing calculating for a given sampling time. An estimation of a heading prediction which is a function of the heading is determined at the preceding sampling time. A resetting of the predicted heading is then estimated as a function of a magnetic heading determined from magnetometer measurements. During the resetting, the calculating estimates the amplitude of the resetting as a function of a model of the change in magnetic disturbances between two sampling times, and of an a priori estimation of the amplitude of the disturbances.
G01C 17/38 - Testing, calibrating, or compensating of compasses
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/20 - Instruments for performing navigational calculations
09 - Scientific and electric apparatus and instruments
Goods & Services
Non-medical scientific apparatus and instruments for inertial measurement of movement and muscular activity; non-medical electronic apparatus for recording and transmitting data related to movement and muscular activity; data processing equipment, particularly relating to movement; non-medical devices for inertial measurement of movement that is embedded with operating system software; non-medical measuring devices, particularly for movement; non-medical electric monitoring apparatus for measurement of movement and muscular activity; non-medical inertial movement measuring devices connected to the Internet, particularly in the form of bracelets; magneto-inertial non-medical sensors
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Non-medical scientific apparatus and instruments for inertial measurement of movement and muscular activity; nonmedical electronic apparatus for recording and transmitting data related to movement and muscular activity; data processing equipment, particularly relating to movement; non-medical devices for inertial measurement of movement that is embedded with operating system software; non-medical measuring devices, particularly for movement; non-medical electric monitoring apparatus for measurement of movement and muscular activity; non-medical inertial movement measuring devices connected to the Internet, particularly in the form of bracelets; magneto-inertial non-medical sensors Surgical apparatus and instruments; therapeutic and assistance devices designed for people with disabilities, namely, measurement of movement and muscular activity to monitor motor and physical evolutions of patients; analysis apparatus for medical use, particularly for measuring muscular activity; analysis apparatus for medical use in neurology, namely, measurement of movement and muscular activity to monitor neuromuscular evolutions; diagnostic apparatus for medical use, particularly for measuring muscular activity; bracelets for medical purposes; electrodes for medical use; traction apparatus for medical use; surgical implants comprised of artificial materials; physical rehabilitation apparatus for medical use, namely, magneto-inertial measuring units for measurement of body movements and reconstructs trajectory for medical analysis; tomograph for medical purposes
23.
Method for estimating the movement of an object moving in a magnetic field
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth
The invention describes a method for analysing the stride of a walking pedestrian, comprising steps of: (a) Acquiring, during a recording period, motion measurements of a lower limb (1) of the pedestrian, (b) Determining each stride made by the pedestrian, (C) Dividing the recording period into recording sub-periods, (d) For several detected strides, estimating a characteristic value of the stride, (e) Selecting at least one characteristic stride value from a predetermined range of percentiles within a set formed by the estimated characteristic stride values, ordered by increasing values and occurring during a recording sub-period, (f) Repeating step (e) for several recording sub-periods. The invention also concerns a piece of equipment (10) for analysing the stride of a walking pedestrian, and a computer program product.
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
A61B 5/22 - ErgometryMeasuring muscular strength or the force of a muscular blow
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
25.
METHOD FOR CALIBRATING MAGNETOMETERS FITTED IN AN OBJECT
The invention relates to a method for calibrating magnetometers (20) that are fitted in an object (1) moving in an ambient magnetic field, said method being characterized in that it involves the steps of: (a) having the magnetometers (20) acquire at least three measured components of the magnetic field around the magnetometers (20), and having inertial measurement means (11), which are secured to the object (1), acquire an angular velocity of the object (1); (c) having data processing means (21) determine values of at least one calibration parameter of the magnetometers (20), said values minimizing an expression defined by estimated components of the magnetic field, and at least one magnetic equation relating to the angular velocity of the object (1), - the estimated components of the magnetic field being a function of the measured components of the magnetic field as well as of calibration parameters of the magnetometers (20), and - the at least one magnetic equation assuming that the magnetic field is uniform and stationary around the magnetic measurement means (20).
G01C 17/38 - Testing, calibrating, or compensating of compasses
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
26.
METHOD FOR CALIBRATING A GYROMETER FITTED IN AN OBJECT
The invention relates to a method for calibrating a gyrometer (11) that is fitted in an object (1) moving in an ambient magnetic field, said method involving the steps of: • (a) having the gyrometer (11) acquire a measured angular velocity, and having magnetic measurement means (20), which are secured to the object (1), acquire at least two components of the magnetic field; • (b) determining values of at least one calibration parameter of the gyrometer (11), said values minimizing a first expression defined by an estimated angular velocity of the object (1), and at least one first magnetic equation relating to the components of the magnetic field, • - the estimated angular velocity being a function of the measured angular velocity as well as of calibration parameters, and • - the at least one magnetic equation assuming that the magnetic field is uniform and stationary.
G01C 17/38 - Testing, calibrating, or compensating of compasses
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth
27.
METHOD OF CALIBRATING A GYROMETER INSTALLED IN A VEHICLE
The invention relates to a method of calibrating a gyrometer (11) installed in a vehicle (1), said method being characterised in that it comprises the following steps: (a) acquiring, using the gyrometer (11), a measured angular velocity of the vehicle (1) and, using means (20) for measuring at least one magnitude that is representative of the angular velocity of the vehicle (1), acquiring measured values of said at least one magnitude that is representative of the angular velocity of the vehicle (1); and (b) determining, using data processing means (21), values of at least one parameter for calibrating the gyrometer (11), minimising a gap between a first estimated angular velocity of the vehicle (1) and a second estimated angular velocity of the vehicle (1), wherein - the first estimated angular velocity of the vehicle (1) is a function of the measured angular velocity and calibration parameters of the gyrometer (11), and - the second estimated angular velocity of the vehicle (1) is a function of the measured values of the at least one magnitude that is representative of the angular velocity of the vehicle (1).
G01C 19/00 - GyroscopesTurn-sensitive devices using vibrating massesTurn-sensitive devices without moving massesMeasuring angular rate using gyroscopic effects
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
G01C 22/02 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
28.
Method for estimating the relative orientation between a tibia and a femur
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 5/107 - Measuring physical dimensions, e.g. size of the entire body or parts thereof
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
The invention concerns a method for calibrating a magnetometer, comprising the following steps: - the magnetometer travels through (S1) a set of positions on a path, - acquisition (S2) by the magnetometer of a plurality of measurements of the magnetic field; - provision (S3) of trajectory information representative of the location and orientation of a point secured to the magnetometer, - matching up (S4) of the measurements of the magnetic field with the trajectory information, - determination (S5) of calibration parameters of the magnetometer by minimising a cost function involving, for a plurality of determination times, at least said calibration parameters, a measurement of the magnetic field, and a relation linking the evolution of a magnetic field with the evolution of the location and orientation of the magnetometer derived from the trajectory information.
G01P 21/00 - Testing or calibrating of apparatus or devices covered by the other groups of this subclass
G01R 35/00 - Testing or calibrating of apparatus covered by the other groups of this subclass
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
G01C 17/38 - Testing, calibrating, or compensating of compasses
G01R 33/02 - Measuring direction or magnitude of magnetic fields or magnetic flux
G01V 3/08 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
30.
METHOD AND DEVICE FOR CHARACTERISING A HEADING DETERMINED FROM THE MEASUREMENT OF THE MAGNETIC FIELD
The invention relates to a method for determining a heading, wherein a magnetic field is measured by at least one magnetometer and a magnetic heading is determined from said measurement, and wherein calculation means carry out a process in which they calculate, for each measurement of magnetic heading, a value for characterising the heading thus determined, characterised in that said characterisation value is a monotonic function of a norm of the gradient of the magnetic field measured, said value being used in determining the heading.
G01C 17/38 - Testing, calibrating, or compensating of compasses
G01C 21/20 - Instruments for performing navigational calculations
G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
31.
DETERMINATION OF A HEADING USING A FIELD MEASURED BY MAGNETIC SENSORS
The invention relates to determining a heading by magnetic sensors, in which a magnetic field is measured by magnetometers and calculation means that implement a recursive processing which calculate for a given sampling time: an estimate of a heading prediction that is a function of the heading determined at the time of the preceding sampling time, - a resetting of the predicted heading thus estimated according to a magnetic heading determined using magnetometer measurements. During said resetting, the calculation means estimate the amplitude of the resetting according to: a model of the change in magnetic disturbances between two sampling times, and an a priori estimate of the amplitude of the disturbances.
G01C 21/20 - Instruments for performing navigational calculations
G01C 17/38 - Testing, calibrating, or compensating of compasses
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
32.
Method for estimating the physical activity of an upper limb
(c) Determining, by the data processing means (21, 31, 41), a power exerted by the upper limb (10) as a function of the estimated torque and of the measured angular speed.
A61B 5/22 - ErgometryMeasuring muscular strength or the force of a muscular blow
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
G01C 9/00 - Measuring inclination, e.g. by clinometers, by levels
G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
The present invention relates to a method for calibrating a magnetometer (3), wherein the magnetometer (3) is arranged inside the coils (21) of a generator (2), a magnetic field being generated by the generator (2), a series of measurements of the magnetic field with the magnetometer (3) being achieved by varying the position of the magnetometer (3) and/or the electric currents in the coils (21) between each measurement, the electric currents used in the coils (21) also being measured, a parametric transfer model being generated from a parametric measurement model of the magnetometer comprising calibration parameters of the magnetometer and a parametric model of the magnetic field, the calibration parameters of the magnetometer (3) being calculated by an optimisation algorithm from the parametric transfer model and magnetic field measurements provided by the magnetometer and the measurement of currents in the coils.
The present invention concerns a method for locating an object (1) rigidly attached to a triaxial magnetic sensor (2), moving in the magnetic field generated by an assembly of at least three triaxial magnetic generators (3) stationary in a common reference frame, the method being characterised in that it comprises the steps of: (a) for each generator (3), determining, as a function of the magnetic field measurements acquired by the sensor (2) and associated with said generator (3), a position of said sensor (2) in said common reference frame; (b) calculating, for each generator (3), a parameter representative of an error on said position determined by the sensor (2) for the generator (3); (c) selecting a subassembly of the assembly of generators (3) depending on said parameters estimated for each of the generators (3), said selected subassembly of the assembly of generators (3) comprising each generator (3) for which said estimated parameter is less than at least one reference threshold; (d) estimating the position of the object (1) by merging the determined positions of the sensor (2) for each generator (3) selected in said subassembly.
G01V 3/165 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with magnetic or electric fields produced or modified by the object or by the detecting device
G01B 7/004 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
35.
METHOD FOR LOCATING AN OBJECT MOVING IN A MAGNETIC FIELD GENERATED BY AN ASSEMBLY OF AT LEAST THREE MAGNETIC GENERATORS
The present invention concerns a method for locating an object (1) rigidly attached to a triaxial magnetic sensor (2), moving in the magnetic field generated by an assembly of at least three triaxial magnetic generators (3) stationary in a common reference frame, the method being characterised in that it comprises the steps of: (a) for each generator (3), determining, as a function of the magnetic field measurements acquired by the sensor (2) and associated with said generator (3), a position of said sensor (2) in said common reference frame; (b) calculating, for each generator (3), a parameter representative of an error on said position determined by the sensor (2) for the generator (3); (c) selecting a subassembly of the assembly of generators (3) depending on said parameters estimated for each of the generators (3), said selected subassembly of the assembly of generators (3) comprising each generator (3) for which said estimated parameter is less than at least one reference threshold; (d) estimating the position of the object (1) by merging the determined positions of the sensor (2) for each generator (3) selected in said subassembly.
G01B 7/004 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
G01V 3/165 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with magnetic or electric fields produced or modified by the object or by the detecting device
36.
METHOD FOR ESTIMATING THE MOVEMENT OF AN OBJECT MOVING IN A MAGNETIC FIELD ENVIRONMENT
The present invention relates to a method for estimating the movement of an object (1) moving in an ambient magnetic field environment (∑), the method being characterised in that it comprises the steps of: (a) using inertial measuring means (24) connected to said object (1) to acquire at least one component of an angular velocity and/or acceleration of the object (1), called inertial data; using magnetic measuring means (20) connected to said object (1) to acquire at least one component of the magnetic field and/or one i-th derivative of the magnetic field, at the magnetic measuring means (20), called magnetic data; using optical means (26) connected to said object (1) to acquire consecutive images of the environment (Σ), called vision data; (b) using data processing means (21, 31, 41) to estimate at least one component of the movement of said object (1) using the inertial data, as well as the magnetic data and/or the vision data.
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
37.
METHOD FOR ESTIMATING THE MOVEMENT OF AN OBJECT MOVING IN A MAGNETIC FIELD
The present invention concerns a method for estimating the movement of an object (1) moving in an ambient magnetic field, the method being characterised in that it comprises the steps of: (a) acquiring: - by magnetic measurement means (20) rigidly attached to said object (1), at least one component of the magnetic field and/or an i-th derivative of the magnetic field; - by non-magnetic measurement means (24) rigidly attached to said object (1), at least one piece of information representative of the movement of the object (1); (b) evaluating the stationery or otherwise character of the magnetic field at the magnetic measurement means (20); (c) estimating, by the data processing means (21, 31, 41), at least one component of the movement of said object (1) by using, - at least one non-magnetic equation linking said component of the movement of said object (1) and at least one piece of acquired information representative of the movement of the object (1); - depending on the result of said evaluation of the stationary or otherwise character of the magnetic field, at least one magnetic equation linking said component of the movement of said object (1) and the at least one acquired component of the magnetic field and/or an i-th derivative of the magnetic field.
The invention concerns a magnetic field measurement by a set of magnetometers (20) which are linked to a same movable support and which exhibit different orientations of eigendirections with respect to this support. The processing means implement, during a measurement in a given position and orientation of the support and of the set of magnetometers, - a determination, for each magnetometer, of the orientation deviation between the eigendirections of the magnetometer and the "candidate" magnetic field, - a determination of the magnetometer for which this deviation is minimal, the magnetic field measured by this sensor being selected as the magnetic field measured by the set of magnetometers. The magnetometers (20) are distributed in space in order to cover a maximum of different orientations.
G01V 3/08 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth
G01P 13/00 - Indicating or recording presence or absence of movementIndicating or recording of direction of movement
G01R 33/02 - Measuring direction or magnitude of magnetic fields or magnetic flux
G01V 3/10 - Electric or magnetic prospecting or detectingMeasuring magnetic field characteristics of the earth, e.g. declination or deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
39.
METHOD FOR ESTIMATING THE MOVEMENT OF AN OBJECT MOVING IN A MAGNETIC FIELD
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
40.
Method for estimating the movement of a pedestrian
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
G01C 21/20 - Instruments for performing navigational calculations
G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01P 13/00 - Indicating or recording presence or absence of movementIndicating or recording of direction of movement
41.
METHOD FOR ESTIMATING THE RELATIVE ORIENTATION BETWEEN A TIBIA AND A FEMUR
Disclosed is a method for estimating the relative orientation between a tibia (11a) and a femur (11b), said method involving the steps of: • having first inertial measuring means (20a) and second inertial measuring means (20b) acquire reference accelerations and reference angular velocities during at least one reference movement of the lower limb (10); • estimating a plurality of morphological parameters; • determining a relative orientation between the tibia (11a) and the femur (11b) in the starting position in accordance with the morphological parameters; • having the first inertial measuring means (20a) and the second inertial measuring means (20b) acquire working angular velocities during a working movement of the lower limb (10); • estimating the relative orientation between the tibia (11a) and the femur (11b) in accordance with the measured working angular velocities and the relative orientation in the starting position.
The present invention relates to a method for estimating the physical activity exerted by an upper limb (10) of a person (1), the method being characterised in that it comprises the steps of: (a) acquiring, by inertial measurement means (20) rigidly attached to a forearm (11) of said upper limb (10) of said person (1), an angular speed of said forearm (10); (b) estimating, by data-processing means (21, 31, 41), a torque exerted by the arm muscles (12) of the upper limb (1) on said forearm (11) as a function of the measured angular speed, of an orientation of said forearm (11) and of physical parameters of said forearm (11); (c) determining, by a data-processing means (21, 31, 41), a power exerted by the upper limb (10) as a function of the estimated torque and of the measured angular speed.
G01C 9/00 - Measuring inclination, e.g. by clinometers, by levels
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 5/22 - ErgometryMeasuring muscular strength or the force of a muscular blow
43.
METHOD FOR ESTIMATING THE PHYSICAL ACTIVITY OF AN UPPER LIMB
The present invention relates to a method for estimating the physical activity exerted by an upper limb (10) of a person (1), the method being characterised in that it comprises the steps of: (a) acquiring, by inertial measurement means (20) rigidly attached to a forearm (11) of said upper limb (10) of said person (1), an angular speed of said forearm (10); (b) estimating, by data-processing means (21, 31, 41), a torque exerted by the arm muscles (12) of the upper limb (1) on said forearm (11) as a function of the measured angular speed, of an orientation of said forearm (11) and of physical parameters of said forearm (11); (c) determining, by a data-processing means (21, 31, 41), a power exerted by the upper limb (10) as a function of the estimated torque and of the measured angular speed.
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 5/22 - ErgometryMeasuring muscular strength or the force of a muscular blow
G01C 9/00 - Measuring inclination, e.g. by clinometers, by levels
G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
44.
METHOD FOR ESTIMATING THE MOVEMENT OF A PEDESTRIAN
The present invention relates to a method for estimating the movement of a walking pedestrian (1), the method being characterised in that it comprises the following steps: (a) acquiring, by inertial measurement means (20) rigidly connected to a lower limb (10) of said pedestrian (1) and arranged so as to substantially have a rotation movement relative to a distal end (11) of said lower limb (10), at least when said distal end (11) of the lower limb (10) is in contact with the ground, an acceleration and an angular velocity of said lower limb (10); (b) estimating, by data-processing means (21, 31, 41), a speed of said lower limb (10) as a function of said acceleration and said angular velocity measured; (c) determining a time interval of said walk of the pedestrian (1), during which said distal end (11) of said lower limb (10) is in contact with the ground, as a function of the measured acceleration, the measured angular velocity, and a lever arm between the inertial measurement means (20) and said distal end (11); (d) in said determined time interval, calculating an expected speed as a function of said measured angular velocity and said lever arm, and correcting the estimated speed as a function of the expected speed; and (e) estimating the movement of the pedestrian (1) as a function of the estimated speed.
G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/20 - Instruments for performing navigational calculations
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
The present invention relates to a method for estimating the movement of an object (3) moving about an environment (∑), the method being characterised in that it includes the steps of: (a) acquiring, by optical acquisition means (2) secured to the object (3), at least two consecutive depth images of the environment (∑); (b) selecting, by data-processing means (11) of a device (1), at least one sub-portion (Ωi) of the two depth images; (c) for each selected sub-portion (Ωi) of the two depth images, calculating by means of the data-processing means (11) on the basis of the depth values of the pixels in the sub-portion (Ωi): a first parameter (γi) representing a difference between the two depth images of a volume associated with a solid angle defined by a contour (∂Ωi) of the sub-portion (Ωi); a second parameter (αi) representing a volume vector quantity along said contour (∂Ωi); and a third parameter (βi) representing a surface vector quantity that results from said contour (∂Ωi); and (d) estimating, by the data-processing means (11), at least one component of the movement of said object (3) on the basis of the first, second and third parameters (αi, βi, γi) associated with each sub-portion (Ωi).
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
38 - Telecommunications services
42 - Scientific, technological and industrial services, research and design
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Scientific and measuring apparatus and instruments; Apparatus for recording and transmission of data; Digital recording media; Data processing equipment; Computer software; Precision measuring apparatus; Regulating apparatus, electric; Measuring devices, electric; Monitoring apparatus, electric; Motion inertial measurement devices, namely smart electronic accessories, in particular bracelets; Magneto-inertial sensors. Apparatus for use in medical analysis for measuring muscular activity; Apparatus for use in medical analysis for use in neurology; Diagnostic apparatus for medical purposes for measuring muscular activity. Telecommunications; Message sending; Providing namely transmission of medical information via the internet and telecommunications apparatus of all kinds, and in particular via web applications; Providing of access to data or documents stored electronically in central files for remote viewing thereof; Transmission of data, multimedia, video and audio files, including downloadable files and files streamed on a global computer network. Scientific and technological services, and research and design services relating thereto, namely: evaluations, appraisals and research in the fields of science and technology, provided by engineers; Medical analysis and research; Design and development of computer hardware and software; Computer system analysis; Data conversion of computer programs and data [not physical conversion]; Conversion of data or documents from physical to electronic media; Recovery of computer data. Medical assistance; Telemedicine services; Medical screening; Medical information; Medical services; Medical care; Medical testing; Behavioural analysis for medical purposes; Rental of medical machines and apparatus; Conducting of medical examinations; Medical consultancy; Medical consultations; Medical diagnostic services; Medical evaluation services; Medical analysis for diagnostic and treatment of persons; Guidance consultancy in the field of medicine.
47.
Device and method for determining the speed of a wheeled terrestrial vehicle from measurements of an ambient terestrial magnetic field
A device for measuring the speed of movement of a wheeled terrestrial vehicle. A magnetometer takes measurements of an ambient terrestrial magnetic field and is positioned so as to be sensitive to the magnetic field variations caused by the rotation of at least one partially metallic wheel of the vehicle. The magnetometer delivers a corresponding signal. The signal is processed to establish a frequency spectrum thereof. From the frequency spectrum, a frequency of rotation of the wheel is determined, and deducing therefrom, on the basis of information representative of the radius of the wheel, the speed of movement of the vehicle.
G01B 7/30 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapersMeasuring arrangements characterised by the use of electric or magnetic techniques for testing the alignment of axes
G01P 3/481 - Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
48.
DEVICE AND METHOD FOR DETERMINING DEPTH DATA FROM AN OPTICAL SENSOR THAT CAN BE MOVING
The invention relates to a device (100) for determining depth data (d) from an optical sensor (10) that can be moving, the device (100) including: a means (20) for estimating a magnetic field (B), the means (20) including a set (21) of magnetic sensors to be arranged with rigid connection to the optical sensor (10), the set of sensors being intended to provide measurements (mB) of the magnetic field (B), and a processing unit (22) for determining field data (iB) that is representative of the magnetic field (B), from measurements (mB) of the magnetic field (B); the device further includes an inertial unit (30) including a set (31) of inertial sensors to be arranged with rigid connection to the optical sensor (10) and provide inertial measurements (mC) of the movement of the optical sensor (10), and a processing unit (32) for determining movement data (iC) that is representative of the movement of the optical sensor (10) from inertial measurements (mC), and includes a calculation unit (40) for determining, from the field data (iB), the movement data (iC), and the optical data (iO) provided by the optical sensor (10), depth data (d) from the optical sensor (10).
G01B 11/24 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
G01C 23/00 - Combined instruments indicating more than one navigational value, e.g. for aircraftCombined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
G01B 11/02 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness
49.
DEVICE AND METHOD FOR DETERMINING THE SPEED OF A WHEELED TERRESTRIAL VEHICLE FROM MEASUREMENTS OF A MAGNETIC FIELD
A device for measuring the speed of movement of a wheeled terrestrial vehicle is characterized in that it comprises a magnetometer (2) intended to take measurements of a magnetic field and positioned so as to be sensitive to the magnetic field variations caused by the rotation of at least one at least partially metallic wheel, as such, of the vehicle and capable of delivering a corresponding signal (20), and means (3) for processing said signal that are capable of establishing a frequency spectrum thereof, of determining, from said frequency spectrum, a frequency of rotation of said wheel and of deducing therefrom, on the basis of information representative of the radius of the wheel, the speed of movement of the vehicle. Application in particular to tachometers for motor vehicles.
G01P 3/481 - Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals