Pedestrian navigation method and apparatus operative in a dead reckoning mode

The method of claim wherein said model is a Hidden Markov Model.

The method of claim wherein an azimuth computation is computed for each determined displacement step, said computation comprising the steps of:

• distinguishing a direction of a step between forward, backward, left and right displacement steps,
• detecting an azimuth from a sensor carried by said pedestrian,
• correcting said detected azimuth with an offset angle in accordance with a distinguished of step.

A method of pedestrian navigation operative in a dead reckoning mode, comprising the steps of:

• using an Inertial Navigation System (INS) as a source acceleration signals, said system having a motion detection sensor responsive to accelerations along an antero-posterior (forward-backward) direction of said pedestrian,
• submitting signals from said INS to a waveform analysis to determine a step of said pedestrian, and
• determining pedestrian navigation information of said step from a previous point to a predicted point on the basis of said waveform analysis.

An apparatus for determining a displacement of a pedestrian by detecting accelerations of said pedestrian, said apparatus comprising:

• sensing means for detecting accelerations having at least a component that is substantially along an antero-posterior (forward-backward) direction which is substantially non-vertical,
• characteristic determining means for determining at least one characteristic feature of said detected accelerations correlated with a displacement step motion, and
• displacement determining means for determining said displacement from a previous point to a predicted point on the basis of said at least one determined characteristic feature.

The apparatus 52, wherein said accelerations are detected by means of three mutually orthogonal acceleration sensors each delivering an acceleration component of a respective orthogonal axis on a separate channel.

An apparatus for pedestrian navigation operative in a dead reckoning mode, comprising:

• an Inertial Navigation System (INS) serving as a source of acceleration signals, said system having a motion detection sensor responsive to accelerations along an antero-posterior (forward-backward) direction of said pedestrian,
• means for submitting signals from said INS to a waveform analysis to determine a step of said pedestrian, and
• means for determining pedestrian navigation information of said step from a previous point to a predicted point on the basis of said waveform analysis.

A method of determining a displacement of a pedestrian by detecting accelerations of said pedestrian, said method comprising the steps of:

• detecting accelerations having at least a component that is substantially along a lateral (left-right) direction which is substantially non-vertical,
• determining at least one characteristic feature of said detected accelerations correlated with a displacement step motion, and
• determining said displacement from a previous point to a predicted point on the basis of said at least one determined characteristic feature.

An apparatus for determining a displacement of a pedestrian by detecting accelerations of said pedestrian, said apparatus comprising:

• sensing means for detecting accelerations having at least a component that is substantially along a lateral (left-right) direction which is substantially non-vertical,
• characteristic determining means for determining at least one characteristic feature of said detected accelerations correlated with a displacement step motion, and
• displacement determining means for determining said displacement from a previous point to a predicted point on the basis of said at least one determined characteristic feature.

A method of determining a displacement of a pedestrian by detecting accelerations of said pedestrian, said method comprising the steps of:

• detecting accelerations along a direction which is substantially non-vertical,
• determining at least one characteristic feature of said detected accelerations correlated with a displacement step motion, and
• determining said displacement from a previous point to a predicted point on the basis of said at least one determined characteristic feature, wherein said accelerations are detected along an antero-posterior (forward-backward) direction of said pedestrian.

An apparatus for determining a displacement of a pedestrian by detecting accelerations of said pedestrian, said apparatus comprising:

• sensing means for detecting accelerations along a direction which is substantially non-vertical,
• characteristic determining means for determining at least one characteristic feature of said detected accelerations correlated with a displacement step motion, and
• displacement determining means for determining said displacement from a previous point to a predicted point on the basis of said at least one determined characteristic feature, wherein said accelerations are detected along an antero-posterior (forward-backward) direction of said pedestrian.

A method of pedestrian navigation operative in a dead reckoning mode, comprising the steps of:

• using an Inertial Navigation System (INS) as a source acceleration signals, said system having a motion detection sensor responsive to accelerations along a lateral (left-right) direction of said pedestrian,
• submitting signals from said INS to a waveform analysis to determine a step of said pedestrian, and
• determining pedestrian navigation information of said step from a previous point to a predicted point on the basis of said waveform analysis.

An apparatus for pedestrian navigation operative in a dead reckoning mode, comprising:

• an Inertial Navigation System (INS) serving as a source acceleration signals, said system having a motion detection sensor responsive to accelerations along a lateral (left-right) direction of said pedestrian,
• means for submitting signals from said INS to a waveform analysis to determine a step of said pedestrian, and
• means for determining pedestrian navigation information of said step from a previous point to a predicted point on the basis of said waveform analysis.

A method of determining a displacement of a pedestrian by detecting accelerations of said pedestrian, said method comprising the steps of:

• detecting accelerations along a direction which is substantially non-vertical,
• determining at least one characteristic feature of said detected accelerations
• determining said displacement from a previous point to a predicted point on the basis of said at least one determined characteristic feature, wherein said accelerations are detected along a lateral (left-right) direction of said pedestrian.

An apparatus for determining a displacement of a pedestrian by detecting accelerations of said pedestrian, said apparatus comprising:

• sensing means for detecting accelerations along a direction which is substantially non-vertical,
• characteristic determining means for determining at least one characteristic feature of said detected accelerations correlated with a displacement step motion, and
• displacement determining means for determining said displacement from a previous point to a predicted point on the basis of said at least one determined characteristic feature, wherein said accelerations are detected along a lateral (left-right) direction of said pedestrian.