Back to results
US 10,895,626 B2Granted
Device state estimation with body-fixed assumption
AssigneeApple Inc.
InventorIsaac Thomas Miller
Life of this patent
Estimating the term…
Abstract
Systems, methods, devices and computer-readable storage mediums are disclosed for device state estimation with body-fixed assumption. In some implementations, a method comprises: determining, by a device, a rotational velocity of a user of the device based on a sensor signal; determining, by the device, user speed; determining, by the device, user acceleration based on the user speed and the rotational velocity of the user; and updating a user state estimator based on the user acceleration.
Claims17
A method comprising:
- determining, by one or more sensors of a device attached to a user's limb, a rotation rate of the device;
- determining, by one or more processors of the device, a periodic component of the rotation rate of the device caused by a swinging motion of the user's limb;
- determining, by the one or more processors, a rotational rate of the user of the device by removing from the rotation rate of the device the periodic component;
- determining, by a user state estimator of the device, a first estimate of the user's speed;
- determining, by the one or more processors and using a path coordinate acceleration model, the user's acceleration based on the first estimate of the user's speed, a rate of change of the user's speed, a tangent vector to a travel path that the user is traveling along and the rotational rate of the user;
- updating, by the one or more processors, the user state estimator based on the user acceleration;
- and
- determining, by the one or more processors, a second estimate of the user's speed using the updated user state estimator.
5 more elements
A device comprising:
- one or more sensors;
- one or more processors;
- memory coupled to the one or more processors and configured to store instructions, which, when executed by the one or more processors, causes the one or more processors to perform operations comprising:
- determining, by the one or more sensors, a rotation rate of the device;
- determining, by the one or more processors, a periodic component of the rotation rate of the device caused by a swinging motion of a user's limb coupled to the device;
- determining, by the one or more processors, a rotational rate of the user of the device by removing from the rotation rate of the device the periodic component;
- determining, by a user state estimator of the device, a first estimate of the user's speed;
- determining, by the one or more processors and using a path coordinate acceleration model, the user's acceleration based on the first estimate of the user's speed, a rate of change of the user's speed, a tangent vector to a travel path that the user is traveling along and the rotational rate of the user;
- updating, by the one or more processors, the user state estimator based on the user acceleration;
- and
- determining, by the one or more processors, a second estimate of the user's speed using the updated user state estimator.
8 more elements
A non-transitory, computer-readable storage medium storing instructions, which, when executed by one or more processors of a device, causes the one or more processors to perform operations comprising:
- determining, by one or more sensors of the device, a rotation rate of the device;
- determining, by one or more processors of the device, a periodic component of the rotation rate of the device caused by a swinging motion of a user's limb;
- determining, by the one or more processors, a rotational rate of the user of the device by removing from the rotation rate of the device the periodic component;
- determining, by a user state estimator of the device, a first estimate of the user's speed;
- determining, by the one or more processors and using a path coordinate acceleration model, the user's acceleration based on the first estimate of the user's speed, a rate of change of the user's speed, a tangent vector to a travel path that the user is traveling along and the rotational rate of the user;
- updating, by the one or more processors, the user state estimator based on the user acceleration;
- and
- determining, by the one or more processors, a second estimate of the user's speed using the updated user state.
5 more elements
Dependencies are inferred from the claim text.