Patent ID: 8504292
Filing Date: 2013-08-06
Classification: G01C,G01S

Abstract:
1. A method for determining a position of a user inside of a structure, comprising: capturing acceleration and orientation data by an inertial motion unit (IMU) affixed to the user descriptive of acceleration and orientation of the user; capturing range data by one or more range finders affixed to the user descriptive of distances from the user to physical constraints within the structure; producing an estimate of the user's relative displacement based on the acceleration and orientation data captured by the IMU; generating a cloud of particles within a model of the structure based on the estimate of the user's relative displacement, wherein each particle of the cloud of particles represents a possible position of the user; applying one or more particle filters to the cloud of particles to applying a statistical function to the cloud of particles to determine a calculated position of the user.