(12) United States Patent
`Matsuoka et al.
`
`(10) Patent No.:
`(45) Date of Patent:
`
`US 6,546,336 Bl
`*Apr. 8, 2003
`
`I IIIII IIIIIIII Ill lllll lllll lllll lllll lllll lllll lllll lllll 111111111111111111
`US006546336Bl
`
`(54) PORTABLE POSITION DETECTOR AND
`POSITION MANAGEMENT SYSTEM
`
`(75)
`
`Inventors: Yoshio Matsuoka, Kanagawa-ken (JP);
`Akito Yamamoto, Saitama-ken (JP)
`
`(73) Assignee: Jatco Corporation, Fuji (JP)
`
`( *) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by O days.
`
`This patent is subject to a terminal dis(cid:173)
`claimer.
`
`(21) Appl. No.: 09/401,199
`
`(22) Filed:
`
`Sep. 23, 1999
`
`(30)
`
`Foreign Application Priority Data
`
`Sep. 26, 1998
`
`(JP)
`
`...........................................
`
`10-288784
`
`(51)
`
`Int. Cl.7 ......................... GOlC 21/00; GOlS 21/00;
`G06G 7/78
`(52) U.S. Cl. ....................... 701/213; 701/207; 701/216;
`701/217
`(58) Field of Search ................................. 701/207, 216,
`701/217, 213, 117
`
`(56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`5,583,776 A * 12/1996 Levi et al. ..................
`
`701/217
`
`5,955,667 A * 9/1999 Fyfe ...........................
`702/160
`6,009,375 A * 12/1999 Salumoto et al. ........... 701/216
`6,098,048 A * 8/2000 Dashefsky et al.
`........... 705/10
`6,114,995 A * 9/2000 Ketchhum
`.................. 342/457
`6,132,391 A * 10/2000 Onari et al.
`................ 600/595
`* cited by examiner
`
`Primary Examiner-Jacques H. Louis-Jacques
`Assistant Examiner-Brian J. Broadhead
`(74) Attorney, Agent, or Firm-Blank Rome Comisky &
`McCauley, LLP
`
`(57)
`
`ABSTRACT
`
`A portable position detector is equipped with a pedometer,
`a geomagnetic sensor, and an acceleration sensor. With the
`pedometer, the moved distance of a walker is detected by a
`calculation of "the number of stepsxthe length of a step".
`With the walking time per step detected with the accelera(cid:173)
`tion sensor, the length of a step is corrected so that it
`corresponds to the walking state. The moved direction of the
`walker is detected with the geomagnetic sensor. With this,
`the moved position of the walker is accurately detected by
`self-contained navigation. Particularly, even in the case
`where the position detector is located in a forest or between
`buildings where a signal cannot be received from a global
`positioning system (GPS) due to high buildings, banks, and
`forests, the position detector with a portable size and weight
`applicable to a walker can know with a practically sufficient
`degree of accuracy the position of a person carrying this
`portable detector by self-contained navigation.
`
`19 Claims, 20 Drawing Sheets
`
`START
`
`RF:ADTNG FROMAPIWOMi,;TR
`
`ANI>
`
`AN ACrnLERA.TION SENSOR
`
`S6
`
`l{EADlNGFROMA
`G~;OMAGNETIC
`SENSOR
`
`S4
`
`CORRECTION OF THF'
`LENGTH OFA
`STEP
`
`YES
`
`S50
`
`CORRl<~CTJON ACCORDING TO
`
`WALKlNG STA.TE
`
`DETERMINATION OF THE DIST AN Cl•; MOVED BY A SlNULE
`
`STEP OF THE ',,VALK
`
`DETERMINATION OF THE DISRECTI01',' MO\'ED BY A
`
`SINGLE STEP OF THE WALK
`
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`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 1 of 20
`
`US 6,546,336 Bl
`
`FIG. 1
`
`15
`
`16
`
`ROM
`
`RAM
`
`CONTROL
`
`SECTION
`
`12
`
`13
`
`14
`
`23
`
`PEDOMETER
`
`GEOMAGNETIC
`SENSOR
`
`SWITCH INPUT
`SECTION
`
`ACCELERATION
`SENSOR
`
`11
`
`21
`
`EXTERN AL-UNIT
`
`DRIVER
`
`22
`
`MEMORY CARD
`
`1 I
`
`17
`
`DISPLAY
`
`VOICE OUTPUT
`UNJT
`
`18
`
`POWER
`SUPPLY
`UNIT
`
`BT
`
`TO EACH CIRCUIT
`
`19
`
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`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 2 of 20
`
`US 6,546,336 Bl
`
`N
`
`-,
`
`I
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`N
`
`Ct)
`
`,r
`
`\.
`
`IPR2020-01190
`Apple EX1043 Page 3
`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 3 of 20
`
`US 6,546,336 Bl
`
`FIG. 3
`
`START
`
`INITIALIZATION
`
`INPUT OF A STARTING
`POINT, ETC.
`
`READING FROM A PEDOMETR AND
`AN ACCELERATION SENSOR
`
`81
`
`S2
`
`S3
`
`84
`
`86
`
`READING FROM A
`GEOMAGNETIC
`SENSOR
`
`CORRECTION OF THE
`LENGTH OFA
`STEP
`
`YES
`
`ACCORDING TO
`
`S5 I
`
`S50
`
`NO
`
`CORRECTION ACCORDING TO
`WALKING STATE
`
`S7
`
`S8
`
`DETERMINATION OF THE DISTANCE MOVED BY A SINGLE
`STEP OF THE WALK
`
`DETERMINATION OF THE DISRECTION MOVED BY A
`SINGLE STEP OF THE WALK
`
`IPR2020-01190
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`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 4 of 20
`
`US 6,546,336 Bl
`
`FIG. 4
`
`S5
`
`DETECT tAND a
`
`S51
`
`t <
`
`tl
`
`JUDGE t
`
`S52
`
`t >
`
`t2
`
`S53
`
`u;;;;t;;;;t2
`
`S54
`
`a < al
`
`NO
`
`YES
`
`YES
`
`NO
`
`S55
`
`S56
`
`S58
`
`S59
`
`LARGER
`LENGTH
`
`SMALLER
`LENGTH
`
`LARGER
`LENGTH
`
`SMALLER
`LENGTH
`
`S57
`
`NORMAL LENGHT
`
`S7
`
`IPR2020-01190
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`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 5 of 20
`
`US 6,546,336 Bl
`
`FIG. 5A
`
`S5
`
`READ a
`
`S61
`
`a < a 1
`
`a > a2
`
`JUDGE a
`
`S62
`
`al~
`
`a ~ a2
`
`S63
`
`LARGER
`LENGTH
`
`S64
`
`S65
`
`NORMAL LENGHT
`
`SMALLER
`LENGTH
`
`S7
`
`IPR2020-01190
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`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 6 of 20
`
`US 6,546,336 Bl
`
`FIG. 5B
`
`S5
`
`READ
`
`t
`
`S71
`
`t <
`
`tl
`
`S72
`
`t >
`
`t2
`
`t1 ~ t ~ t2
`
`S73
`
`LARGER
`LENGTH
`
`S74
`
`S75
`
`NORMAL LENG HT
`
`SMALLER
`LENGTH
`
`S7
`
`IPR2020-01190
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`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 7 of 20
`
`US 6,546,336 Bl
`
`FIG. 6
`
`0
`
`S9
`
`DETERMINATION OF THE POSITION MOVED BY A SINGLE
`STEP OF THE WALK
`
`Sl0
`
`DISPLAY OF A MOVED POSITION
`
`NO
`
`SWITCH SIGNAL?
`
`S12
`
`CALCULATING
`PROCESS AND
`DISPLAY
`
`NO
`
`YES
`
`S13
`
`RE-START SIGNAL?
`
`YES
`
`S14
`
`RE-START PROCESS AND DISPLAY
`
`IPR2020-01190
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`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 8 of 20
`
`US 6,546,336 Bl
`
`FIG. 7A
`
`+
`
`PINBALL PARLOR
`
`ESTIMATED AREA
`
`PARK
`
`HOSPITAL
`
`/MOVING
`! ROUTE
`0
`STARTING POINT (AM 10:10)
`
`FIG. 7B
`
`••
`
`0
`
`DIRECTION
`
`....... o ... ······
`
`... ff
`
`O ,:~N~TH OF A STEP I
`
`IPR2020-01190
`Apple EX1043 Page 9
`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 9 of 20
`
`US 6,546,336 Bl
`
`42
`
`43
`
`GPS
`RECEIVER UNIT
`
`12
`
`PEDOMETER
`
`13
`
`14
`
`23
`
`GEOMAGNETIC
`SENSOR
`
`SWITCH INPUT
`SECTION
`
`ACCELERATION
`SENSOR
`
`FIG. 8
`
`45
`
`16
`
`ROM
`
`RAM
`
`CONTROL
`
`SECTION
`
`41 I
`
`17
`
`DISPLAY
`
`18
`
`VOICE OUTPUT
`UNIT
`
`POWER
`SUPPLY
`UNIT
`
`BT
`
`TO EACH CIRCUIT
`
`19
`
`EXTERNAL-UNIT
`DRIVER
`
`21
`
`22
`
`MEMORY CARD
`
`IPR2020-01190
`Apple EX1043 Page 10
`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 10 of 20
`
`US 6,546,336 Bl
`
`"1
`
`C\J
`
`..;<
`
`C\l
`
`.-I
`
`C()
`
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`
`c:o
`
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`
`l()
`
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`
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`0
`H
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`
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`
`I
`I
`
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`I
`
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`
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`I
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`
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`
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`l \
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`II
`I
`I
`I
`
`l
`
`IPR2020-01190
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`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 11 of 20
`
`US 6,546,336 Bl
`
`FIG. 10
`
`START
`
`INITIALIZATION
`
`Sl
`
`S2
`
`INPUT OF A STARTING POINT, ETC. ~
`
`0
`
`1
`
`-----..
`
`r-----~-V
`
`S3
`
`READING FROM A PEDOMETER AND AN ACCELERATION SENSOR
`
`S4
`
`READING FROM A GEOMAGNETIC SENSOR
`
`S15
`
`READING OF GPS SIGNALS
`
`S17
`
`DETERMINATION OF THE CALCULATION OF A MOVED
`POSITION BASED ON GPS SIGNLAS
`
`YES
`
`IPR2020-01190
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`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 12 of 20
`
`US 6,546,336 Bl
`
`FIG. 11
`
`S20
`
`SET THE CUMULATED DJ STANCE
`AND CUMULATED NUMBER OF
`STEPS FOR CORRECTION OF A SET
`STEP LENGTH TO ZERO
`
`CALCULATION OF THE CUMULATED
`DISTANCE DURING A STRAJGHT(cid:173)
`ADVANCE WALK ON A LEVEL PATH,
`BASED ON GPS SIGNALS
`
`S19
`
`S21
`
`CALCULATION OF THE CUMULATED
`NUMBER OF STEPS DURING A
`STRAJGHT-ADVANCE WALK ON A
`LEVEL PATH BY A PEDOMETER
`
`CUMULATED NUMBER OF STEPS?
`(OR GREATER THAN A
`PREDETERMINED CUMULATED
`
`S23
`
`YES
`
`CORRECTION OF THE LENGHT OF' A STEP
`
`IPR2020-01190
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`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 13 of 20
`
`US 6,546,336 Bl
`
`FIG. 12
`
`CORRECTION OF A
`STEP LENGTH
`
`S6
`
`S5
`
`S REQUIRED THE CORRECTION O
`THE LENGHT OF A STEP IN
`
`S50
`
`CORRECTION ACCORDING TO
`WALKING STATE
`
`S7
`
`S8
`
`DETERMINATION OF THE DISTANCE MOVED BY A SINGLE'
`STEP OF THE WALK
`
`DETERMINATION OF THE DISRECTION MOVED BY A
`SINGLE STEP OF THE WALK
`
`S9
`
`DETERMINATION OF THE POSITION MOVED I3Y A SINGLE
`STEP OF THE WALK
`
`S10
`
`DISPLAY OF A MOVED POSITION
`
`CALCULATING
`PROCESS AND
`DISPLAY
`
`S13
`
`S14
`
`RE-START PROCESS AND DISPLAY
`
`IPR2020-01190
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`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 14 of 20
`
`US 6,546,336 Bl
`
`FIG. 13
`
`MOUNTAINEERING ROUTE
`
`51b
`/
`:
`.. ·
`51a
`; ·····-... Q_HILD STATI0"-1~---J
`............ --·····
`I
`A D··C.:tJ;.ILD STATION
`·············D·· ···-..
`~\
`
`·················· ... _
`0
`
`..... :·-.
`
`B
`
`Pl~
`
`\
`
`....... __ \
`·-:.~.·-
`
`P2
`
`·········:_.:.-.:.-
`
`·o ...____
`
`51c
`CHILD STATION
`
`D"' 100
`
`BASE STATTON
`
`IPR2020-01190
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`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 15 of 20
`
`US 6,546,336 Bl
`
`42
`
`43 ~--'--------,
`
`GPS
`RECEIVER UNIT
`
`12
`
`PEDOMETER
`
`13
`
`14
`
`23
`
`GEOMAGNETIC
`SENSOR
`
`SWITCH INPUT
`SECTION
`
`ACCELERATION
`SENSOR
`
`21
`
`FIG. 14
`
`55
`
`56
`
`ROM
`
`RAM
`
`CONTROL
`
`SECTION
`
`52
`
`EXTERNAL-UNIT
`DRIVER
`
`22
`
`MEMORY CARD
`
`51
`
`I
`
`54
`
`TRANSMITTER(cid:173)
`RECEIVER CIRCUIT
`
`17
`
`DISPLAY
`
`18
`
`VOICE OUTPUT
`UNIT
`
`POWER
`SUPPLY
`UNIT
`
`BT
`
`TO EACH CIRCUIT
`
`19
`
`IPR2020-01190
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`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 16 of 20
`
`US 6,546,336 Bl
`
`FIG. 15
`
`107
`
`108
`
`ROM
`
`RAM
`
`CONTROL
`
`SECTION
`
`100
`
`I
`
`109
`
`DISPLAY
`
`llO
`
`VOICE OUTPUT
`UNIT
`
`103
`
`101
`
`102
`
`GPS
`RECEIVER UNIT
`
`104
`
`TRANSMITIER(cid:173)
`RECEIVER UNIT
`
`105
`
`SWITCH INPUT
`SECTION
`
`106
`
`11
`
`CD-ROM
`
`DRIVER
`
`112
`
`IPR2020-01190
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`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 17 of 20
`
`US 6,546,336 Bl
`
`0
`
`1
`
`-----
`
`I------~-
`
`S4
`
`FIG. 16
`
`START
`
`INITIALIZATION
`
`INPUT OF A STARTING POINT, ETC.
`
`Sl
`
`S2
`
`0
`
`4
`
`READING FROM A PEDOMETER AND AN ACCELERATION SENSOR
`
`READING FROM A GEOMAGNETIC SENSOR
`
`S15
`
`READING OF GPS SIGNALS
`
`0
`
`NO
`
`824
`
`RECEPTION OF CORRECTION INFORMTION FROM A
`BASE STATION
`
`S17
`
`DETERMINATION OF THE CALCULATION OF A MOVED
`POSITION BASED ON GPS SIGNLAS
`
`IPR2020-01190
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`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 18 of 20
`
`US 6,546,336 Bl
`
`FIG. 17
`
`S20
`
`SET THE CUMULATED DISTANCE
`AND CUMULATED NUMBER OF
`STEPS FOR CORRECTION OF A SET
`STEP LENGTH TO ZERO
`
`CALCULATION OF THE CUMULATED
`
`DISTANCE DURING A STRAIGHT·
`ADVANCE WALK ON A LEVEL PATH,
`BASED ON GPS SIGNALS
`
`819
`
`S21
`
`NO
`
`CALCULATION OF THE CUMULATED
`
`NUMBER OF STEPS DURING A
`STRAIGHT-ADVANCE WALK ON A
`
`LEVEL PATH BY A PEDOMETER
`
`CUMULATED NUMBER OF STEPS?
`(OR GREATER THAN A
`PREDETERMINED CUMULATED
`
`YES
`
`S23
`
`CORRECTION OF THE LENGHT OF A STEP
`
`IPR2020-01190
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`
`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 19 of 20
`
`US 6,546,336 Bl
`
`FIG. 18
`
`CORRECTION OF A
`STEP LENGTH
`
`S6
`
`S50
`
`CORRECTION ACCORDING TO
`WALKING STATE
`
`S7
`
`88
`
`DETERMINATION OF THE DISTANCE MOVED BY A SINGLE
`STEP OF THE WALK
`
`DETERMINATION OF THE DISRECTION MOVED BY A
`SINGLE STEP OF THE WALK
`
`S9
`
`DETERMINATION OF THE POSITION MOVED BY A SINGLE
`STEP OF THE WALK
`
`S10
`
`S25
`
`DISPLAY OF A MOVED POSITION
`
`TRANSMIT THE MOVED POSITION TO BASE STATION
`
`CALCULATING
`PROCESS AND
`DISPLAY
`
`813
`
`S14
`
`RE-START PROCESS AND DISPLAY
`
`IPR2020-01190
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`

`

`U.S. Patent
`
`Apr. 8, 2003
`
`Sheet 20 of 20
`
`US 6,546,336 Bl
`
`FIG. 19
`
`START
`
`SETTING OF AN AREA IN WHICH A CHILD STATION MOVES
`
`GPS SIGNAL RECEPTION
`
`DETCTION AND CORRECTION OF GPS SIGNAL ERROR
`
`TRANSMISSION OF CORRECTION INFORMATION
`
`RECEPTION FROM A CHILD STATION
`
`ETERNAL STORED DATA RETRIEVAL AND PROCESS
`
`DISPLAY OF MAP INFORMATION
`
`DISPLAY OF A BASE STATION
`
`DISPLAY OF ACHILD STATION
`
`INPUT
`
`Sl00
`
`Sl01
`
`Sl02
`
`Sl03
`
`S104
`
`S105
`
`S106
`
`S107
`
`Sl08
`
`Sl09
`
`S110
`
`S111
`
`TRANSMISSION OF PROVIDED INFORMATION TO A CHILD STATION
`
`RETURN
`
`IPR2020-01190
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`

`US 6,546,336 Bl
`
`1
`PORTABLE POSITION DETECTOR AND
`POSITION MANAGEMENT SYSTEM
`
`FIELD OF THE INVENTION
`
`This invention relates generally to a portable position
`detector and a position management system, and more
`particularly to a portable position detector capable of esti(cid:173)
`mating the moved position of a walking body ( e.g., a person)
`by self-contained navigation (number of stepsxlength of a
`step) and a position management system capable of man(cid:173)
`aging the positions of a plurality of portable position detec(cid:173)
`tors.
`
`DESCRIPTION OF THE RELATED ART
`
`5
`
`2
`On the other hand, the aforementioned Japanese Laid(cid:173)
`Open Patent Publication No. HEI 8-68643 discloses that
`when a cantilever vibration meter (pedometer) with a weight
`outputs a pulse signal, the direction at that time is employed
`to calculate a moved distance. However, in this vibration
`meter (pedometer), a pulse signal is generated by the vertical
`movement of the center of gravity of a walker when the
`vibration meter strikes the weight that attempts to keep its
`position by inertia. Note that all pedometers are uniformly
`10 set so that a pulse signal is generated when the aforemen(cid:173)
`tioned gravity of center rises by a predetermined distance
`(about 15 mm). Also, since there is a great shock when a
`walker lands on a surface such as a road, the output of the
`vibration meter gives rise to hunting. For this reason, this
`15 vibration meter is constructed so that an electric circuit cuts
`the hunting (i.e., a signal at the time of landing is not used).
`Therefore, if a moved direction is detected at the time of the
`generation of this output pulse, the moved direction will
`often be detected when a walker begins to change a direc-
`20 tion. As a result, it cannot be expected to select an optimal
`moved direction, and a measured position is often departed
`from the moved position.
`Japanese Laid-Open Patent Publication Nos. HEI
`2-216011 and HEI 5-172579 disclose that the direction of a
`25 walker is constantly detected and that it is judged whether or
`not the direction has been changed. If it is judged that the
`direction has been changed, the direction and distance up to
`this point are stored in order. As occasion demands a
`position and a walked route are calculated from the sto;ed
`30 data. This method judges a change in a moved direction by
`whether or not a measured direction has exceeded a refer(cid:173)
`ence range of direction
`that becomes a predetermined
`change of direction. However, when a measured direction
`exceeds the reference range of direction, there is no descrip-
`35 tion of which direction of the moved directions being
`changed up to that time within
`the reference range of
`direction
`is employed
`in the measurement of a moved
`position.
`In the aforementioned case, if the range of a reference
`value is narrow, the direction of a walker will constantly
`change and become complicated. At the same time, the
`information will be too much for the storage capacity, so the
`reference value must be set wide to some degree. If the
`reference value is set wide, the dispersion will become
`increasingly great, depending on the direction used before
`change of direction. Particularly, in a long and gentle curve
`or an inclined road, an error will be cumulated.
`Also, in many cases, pedometers are constructed so that
`they count the number of steps and cumulate a value
`obtained by multiplying the number of steps by the length of
`a step, thereby displaying a walked distance. However, in
`practice, the step length of a walker is not constant. For this
`reason, this method has the disadvantage that the calculation
`accuracy of a walked distance is insufficient. For example,
`it is general that the length of a step varies between when the
`walker
`is hurried and when
`the walker walks slowly.
`However, in the conventional method, since a walked dis(cid:173)
`tance is calculated without giving consideration to variations
`in the length of a step due to a difference in a walking state,
`the accuracy of the walked distance is insufficient.
`
`A variety of vehicle navigational systems have been
`developed. At the beginning, self-contained navigation was
`used to provide information about the location of a vehicle.
`Later, self-contained navigation and a global positioning
`system (GPS) were combined into a hybrid system. The
`self-contained navigation employs an integration system.
`That is, the outputs from a speed sensor are integrated to
`detect the traveled distance of a vehicle, and the direction of
`the vehicle is detected from a direction sensor such as a gyro.
`The direction detected for each predetermined distance or
`time and the distance traveled during that period are cumu(cid:173)
`latively added to the starting point to detect the current
`position.
`On the other hand, portable position detectors utilizing the
`GPS have recently been developed in order to render the
`measurement of the position of a walker possible. However,
`in the GPS, the position of a walker cannot be calculated
`unless information is received from 4 satellites ( or 3 satel(cid:173)
`lites although measurement accuracy
`is reduced). Since
`walkers walk on mountains and valleys and, even in a city,
`walk on a sidewalk that is easily shaded by buildings, the
`portable position detector is considerably disadvantageous
`in the above-mentioned reception, compared with vehicle
`navigational systems that are employed in vehicles traveling
`on a roadway in the central portion between buildings. In
`addition, a speed sensor cannot be simply applied to a
`walker, as in vehicle navigational systems.
`Hence, the ideas of self-contained navigation for walkers,
`which employ a pedometer, have hitherto been proposed in 45
`Japanese Laid-Open Patent Publication Nos. HEI 2-216011,
`HEI 5-172579, HEI 8-68643, and HEI 9-89584.
`However,
`the above-mentioned conventional methods
`have the following disadvantages when measuring the posi(cid:173)
`tion of a walker. That is, the direction of a walker can always 50
`be detected at any point, while a pedometer can detect only
`whether or not a single step of a walk has been made. For
`example,
`the pedometer cannot continuously detect the
`moved distance of the center of gravity of a walker's body,
`which is continuously moved during a single step of a walk. 55
`Therefore, unlike vehicle navigational systems, at what
`point a moved distance and a moved direction are detected
`and used as a base of the calculation of the position of a
`walker is considerably important for the position detection
`of a walker based on self-contained navigation, because 60
`particularly when a walk involves a curve, the direction of
`the body easily changes even during movement of a single
`step of a walk.
`In the above-mentioned 4 publications, Japanese Laid(cid:173)
`Open Patent Publication No. HEI 9-89584 has no descrip-
`tion of how a moved distance and a moved direction are
`determined.
`
`40
`
`SUMMARY OF THE INVENTION
`
`It is an object of the present invention
`to provide a
`portable position detector and a position management sys(cid:173)
`tem that are capable of enhancing
`the accuracy of the
`position of a walking body detected by self-contained
`
`65
`
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`3
`the direction of the
`navigation, by accurately detecting
`walking body even when GPS signals cannot be received or
`even when no GPS signals are received and also changing
`the length of a step in accordance with the walking state.
`To achieve this end and in accordance with a first pre-
`ferred form of the present invention, there is provided a
`portable position detector for detecting a moved position of
`a walking body. The portable position detector comprises:
`(1) walking-motion detection means for measuring a value
`related to a walking motion caused by movement of the 10
`walking body; (2) acceleration detection means for detecting
`acceleration of the value related to the walking motion
`caused by movement of the walking body; (3) moved(cid:173)
`distance estimation means for estimating the moved distance
`of the walking body, based on both a number of steps 15
`detected from an output of the walking-motion detection
`means and a step length changed according to horizontal
`acceleration of the walking body or the magnitude of a
`change in the horizontal acceleration detected by accelera(cid:173)
`tion detection means; ( 4) moved-direction detection means 20
`for detecting a direction or direction of movement of the
`walking body caused by movement of the walking body; (5)
`moved-direction determination means for detecting
`two
`points at which the walking body arrives substantially at a
`highest position and lands by walking, based on the walking 25
`motion caused by movement of the walking body that is
`output by the walking-motion detection means, and also for
`determining a moved direction at a specific point as a
`specific moved direction, the specific point being related to
`at least one of the detected two points and also being 30
`specified in a range between the highest-position arrival
`point and the highest position at which the waling body
`arrives substantially by the next walking; and (6) moved(cid:173)
`position estimation means for estimating a position of the
`walking body after movement, based on the moved distance 35
`of the walking body estimated by the moved-distance esti(cid:173)
`mation means and the specific moved direction determined
`by the moved-direction determination means.
`Thus, the walking-motion detection means can easily
`grasp the highest-position arrival point and/or landed point 40
`of a walker by the output pattern of the geomagnetic sensor
`or the acceleration sensor. For the moved direction of the
`walker, the direction of the walker at a point in a range, in
`which the walker lands from the high-position arrival point
`and then raises the next foot to the highest position, is closer 45
`to the moved direction than the direction of the walker at a
`point at which the walker begins to raise the foot thereof.
`Therefore,
`if one of the aforementioned
`two points
`is
`grasped, then an optimal specific point in the aforemen(cid:173)
`tioned range can be selected at the one point or a point 50
`delayed from the one point by a predetermined time (i.e., a
`point related to the aforementioned point). As a result, a
`more superior moved direction can be selected.
`The change of a step length is generally performed in
`consideration of the fact that in the case of a hurried walk the 55
`step length is large, in the case of a normal walk the step
`length is shorter than the hurried walk, and in the case of a
`slow walk the step length is shorter than the normal walk,
`and furthermore in consideration of the fact that these step
`lengths are considerably
`stable
`if viewed
`individually,
`although they depend mainly on height (foot length), the
`strength of a kick, and age. The above-mentioned three kinds
`of walks are sufficient for the step length. Although it cannot
`be said that there is no possibility that the length of a step
`will change continuously between the three kinds, the step 65
`length cannot continue to change continuously for a long
`time. Conversely speaking, a walker changes
`the time
`
`60
`
`4
`required for one step, depending on the degree of hurry. If
`this change becomes greater, the walker will change the step
`length to a step length peculiar to the person that is not
`fatigued. This changed step length is continuously repeated
`for a relatively long time in about three kinds mentioned
`above. Therefore,
`these step lengths may previously be
`measured individually and registered. Or during a walk, the
`walking time, the number of steps, and the walked distance
`obtained with a global positioning system (GPS) may be
`measured and registered.
`As one method, the present invention determines a step
`length changed according to the horizontal acceleration of a
`walking body or the magnitude of a change in the accelera(cid:173)
`tion. In this case, the vertical acceleration of a waling body
`and a change in this acceleration are also related to the
`horizontal acceleration and a change in the horizontal accel(cid:173)
`eration.
`In another method, the time required for one step is
`detected, and according to the length of the detected time,
`the length of a step is changed in consideration of the
`busyness of the foot motion. In the former employing only
`acceleration, there is a need to view the gain and compli(cid:173)
`cated motion of the acceleration and the cost is increased.
`On the other hand, the latter case has the advantage that
`measurements can easily be made.
`The aforementioned moved-distance estimation means
`performs the process of estimating the moved distance of a
`walking body with the number of steps detected from the
`output of the walking-motion detection means, as a param(cid:173)
`eter. The number of steps in this case means that one step of
`a walk has been performed, and this is most desirable.
`However, the present invention is not limited to one step of
`a walk. Even in the case of an increased number of steps, the
`estimation of the moved distance of a walking body is
`possible. Normally, walking rhythm will be substantially
`constant, so the length of a step may be changed when it
`continuously changes considerably as a whole.
`In accordance with the aforementioned
`first preferred
`form of the present invention, even in the case where the
`position detector is located in a forest or between buildings
`where a signal cannot be received from a global positioning
`system (GPS) due to high buildings, banks, and forests, the
`position detector with a portable size and weight applicable
`to a walker can know the position of a person carrying this
`portable detector by self-contained navigation. In this case,
`when the moved direction of a walker required for measure(cid:173)
`ment is determined, easy detection becomes possible by
`grasping the highest-position arrival point or landed point of
`a body, such a foot or a waist, with a geomagnetic sensor or
`an acceleration sensor. If the moved direction at a point,
`which is in a range between a point related to the afore(cid:173)
`mentioned point (i.e., the aforementioned point or a point
`delayed from the aforementioned point by a predetermined
`time) and the highest position that a walker arrives at by the
`next walking motion, is used as a specific moved direction
`for measurement, the moved direction of a walker can be
`determined at a point at which the direction of the body of
`a walker becomes closer to the moved direction. With this,
`measurement accuracy can easily be enhanced.
`Also, by detecting changing environment, the length of a
`step can be changed according to a slopping road, etc. As a
`result, position accuracy can be further enhanced.
`In
`addition,
`the position detector according
`to the present
`invention can be produced at low cost.
`Furthermore,
`the accuracy of a step length can be
`enhanced considerably by correcting
`the step length in
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`5
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`10
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`5
`accordance with the acceleration (i.e., the horizontal accel(cid:173)
`eration of a walker or a change
`in the horizontal
`acceleration) of a value related to motion caused by move(cid:173)
`ment of the walker (walking body). Also, the calculation
`accuracy of the moved distance can be enhanced. Moreover,
`for example, if acceleration during walking is employed as
`a parameter, there is an advantage that the correction of a
`step length can easily be judged.
`In a second preferred form of the present invention, the
`portable position detector comprises: (1) walking-motion
`detection means for measuring a value related to a walking
`motion caused by movement of the walking body; (2)
`acceleration detection means for detecting acceleration of
`the value related to the walking motion caused by movement
`of the walking body; (3) moved-distance estimation means 15
`for estimating
`the moved distance of the walking body,
`based on both a number of steps detected from an output of
`the walking-motion detection means and a step length
`changed in a direction where the step length becomes a
`wider step length as the time required for one step of a walk 20
`detected from an output of the walking-motion detection
`means becomes shorter;
`( 4) moved-direction detection
`means for detecting a direction or direction of movement of
`the walking body caused by movement of the walking body;
`(5) moved-direction determination means for detecting two 25
`points at which the walking body arrives substantially at a
`highest position and lands by walking, based on the walking
`motion caused by movement of the walking body that is
`output by the walking-motion detection means, and also for
`determining a moved direction at a specific point as a 30
`specific moved direction, the specific point being related to
`at least one of the detected two points and also being
`specified in a range between the highest-position arrival
`point and the highest position at which the waling body
`arrives substantially by the next walking; and (6) moved-
`position estimation means for estimating a position of the
`walking body after movement, based on the moved distance
`of the walking body estimated by the moved-distance esti(cid:173)
`mation means and the specific moved direction determined
`by the moved-direction determination means.
`In accordance with the aforementioned second preferred
`form of the present
`invention,
`the length of a step is
`corrected according to the time required for one step of a
`walk. Therefore, in addition to the advantages of the afore(cid:173)
`mentioned first preferred form of the present invention, this 45
`case, as compared with the case of employing acceleration
`alone, is advantageous in that there is no need to view the
`gain and complicated motion of acceleration, the cost can be
`reduced, and measurements can be made more easily.
`In a third preferred form of the present invention, even 50
`when the time required for one step of a walk is shorter than
`normal time required for one step of a walk, the step length
`is corrected so that the time required for one step of a walk
`becomes shorter, if the horizontal acceleration of the walk(cid:173)
`ing body or a change in the acceleration detected by the 55
`acceleration detection means during this walking is less than
`a first predetermined value. Also, even when
`the time
`required for one step of a walk is longer than normal time
`required for one step of a walk, the step length is corrected
`so that the time required for one step of a walk becomes 60
`longer, if the horizontal acceleration of the walking body or
`a change in the acceleration detected by the acceleration
`detection means during this walking is greater than a second
`predetermined value.
`third preferred 65
`In accordance with the aforementioned
`form of the present
`invention,
`the length of a step is
`corrected with the time required for a single step of a walk
`
`35
`
`40
`
`6
`and the horizontal acceleration at this time ( or the magnitude
`of a change in the acceleration). With this, the correction
`judgement of the step length is easy, the accuracy of the step
`length can be enhanced considerably, and the calculation
`accuracy of the moved position of a walker can be enhanced.
`In addition, if the walking time per step and the acceleration
`of a walker are employed as parameters, there is an advan(cid:173)
`tage that the correction judgement of the step length is easy.
`In a fourth preferred form of the present invention, the
`moved-distance estimation means counts the number of
`steps on the basis of a vertical geomagnetic change caused
`by walking of the walking body, detected by the walking(cid:173)
`motion detection means, and also estimates
`the moved
`distance from a relation of the counted number of steps and
`the length of a step. Also, the step length is corrected based
`on the output of the acceleration detection means when the
`estimation is performed.
`In accordance with the aforementioned fourth preferred
`form of the present invention, the moved-distance estima(cid:173)
`tion means counts the number of steps, based on vertical
`geomagnetic change caused by the walking motion of a
`walking body, detected by the walking-motion detection
`means. Also, the moved distance of the walking body is
`estimated by multiplying the counted