Indoor Navigation Using Laser and Gyro Fusion
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Solution Overview
Problem
Traditional navigation systems for indoor environments are costly, ineffective, and face challenges such as poor reception of radio frequency signals, making them unsuitable for widespread acceptance, especially for visually impaired individuals who require accurate path planning and obstacle avoidance.
Innovation Solution
A portable indoor navigation system using a white cane equipped with a laser range finder and a 3-axis gyroscope, combined with a pedometer, employs a two-layered Extended Kalman Filter algorithm for attitude and position estimation, allowing for reliable localization and navigation within indoor spaces without the need for calibration to a specific body type.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If radio frequency markers are installed within a building for navigation, then navigation coverage is improved, but installation and operating costs become substantial barriers
Solution Approach 1:
The patent extracts the navigation functionality from the environment (building infrastructure) and relocates it to the user's portable device. Instead of installing RF markers throughout the building, the system uses the mobile device's camera to capture images of environmental features (walls, doors, windows) and processes these images to provide navigation guidance, thereby eliminating the need for expensive infrastructure installation.
Solution Approach 2:
The patent introduces an intermediary processing system that bridges the gap between environmental features and navigation information. The mobile device captures images of ordinary environmental features, processes them through image analysis algorithms to extract spatial information, and converts this into navigation guidance, thereby enabling navigation without requiring specialized infrastructure.
2Reliability
If satellite-based navigation systems are used within a building, then global positioning capability is provided, but signal reception becomes poor
Solution Approach 1:
The patent replaces the satellite-based electromagnetic signal system with a visual-based navigation system. Instead of relying on satellite signals that penetrate poorly through building structures, the system uses the mobile device's camera to capture visual information from environmental features and processes this information to determine position and provide navigation, thereby overcoming signal reception issues.
3Ease of operation
If visually impaired people use seeing-eye dogs for guidance, then navigation assistance is provided, but training requirements become costly and prohibitive
Solution Approach 1:
The patent enables the mobile device to serve itself as a navigation guide for visually impaired users. The device autonomously captures images, processes them to identify environmental features, calculates position and orientation, and provides navigation instructions without requiring external assistance or training of animals. This self-service capability eliminates the need for costly seeing-eye dog training while providing continuous navigation assistance.
4Measurement precision
If a portable navigation system uses multiple sensors and algorithms, then localization accuracy is improved, but device complexity increases
Solution Approach 1:
The patent makes the mobile device perform multiple functions using its existing components. The camera, originally designed for photography, is repurposed to capture environmental features for navigation. The processor, originally for general computing, is utilized to run image processing and navigation algorithms. This multi-functionality approach improves localization accuracy without significantly increasing device complexity, as it leverages existing hardware capabilities.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system provides accurate and reliable indoor navigation by fusing data from various sensors, enabling users to estimate their heading and position effectively, maintaining the ability to physically interact with the environment while navigating through complex indoor settings.
Implementation Method 1
a laser range finder
Implementation Method 2
laser range finder
Implementation Method 3
a 3-axis gyroscope
Implementation Method 4
a pedometer
Data Source
AI summary
This document discusses, among other things, a portable device that generates position and orientation data to facilitate movement within a building. The device can be, for example, handheld or affixed to a cane. Data for navigation is derived from reflections from interior surfaces and dead reckoning sensors.