Foot-Mounted Motion Tracking to Correct Indoor Position Drift
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Solution Overview
Problem
Firefighters in complex indoor environments face inaccuracies in position determination due to drift errors in inertial sensor-based attitude estimation, which are exacerbated by varying gait habits, limiting their ability to navigate safely and effectively.
Innovation Solution
A method and system utilizing inertia and pace ranging information from sensors on the feet to determine step length, direction, and position, incorporating environmental data for accurate motion tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If inertial sensor-based attitude estimation algorithm is used to estimate position information, then positioning can be achieved in complex indoor environments, but obvious accumulated drift error occurs in pace direction estimation due to varying gait habits
Solution Approach 1:
The patent combines inertial sensor data with pace ranging information from foot-mounted sensors to create a hybrid positioning system. This merging of multiple data sources allows the system to maintain positioning reliability in complex indoor environments while correcting the accumulated drift errors that plague inertial-only systems, directly addressing the contradiction between reliability and precision.
Solution Approach 2:
The system implements feedback mechanisms where pace direction information is continuously determined and used to correct motion direction estimates. By feeding back the actual pace direction derived from foot-mounted sensors into the positioning algorithm, the system compensates for drift errors and maintains precision over time while preserving the reliability of inertial-based positioning.
2Adaptability or versatility
If inertial sensor-based attitude estimation is used, then motion tracking can be performed without external signals, but drift errors interfere with position determination and bring negative effects
Solution Approach 1:
The patent segments the positioning function into multiple independent components: inertial-based motion tracking, pace ranging measurement, pace direction determination, and error correction modules. This segmentation allows each component to operate independently with its strengths, while the aggregation of results provides both the adaptability to work without external signals and the reliability needed to prevent drift errors from compromising overall positioning accuracy.
Data Source
AI summary
The present disclosure discloses a method, apparatus and system for motion tracking. The method includes: acquiring inertia information and pace ranging information of feet of a target object; determining step length information according to the inertia information and the pace ranging information; determining pace direction information according to the inertia information, and determining motion direction information of the target object according to the pace direction information; and determining a motion position of the target object according to the motion direction information and the step length information, and accordingly determining the motion track according to the motion position. By applying the technical schemes provided by embodiments of the present disclosure, the problem that an obvious accumulated drift error is likely to occur in direction estimation in the prior art, which interferes with position determination and brings negative effects can be solved, and beneficial effects of improving positioning accuracy and stability are achieved.