Patent ID: 10697776

Abstract:
According to an example aspect of the present invention, there is provided a method for tracking and determining the position of an object, the method comprising determining a primary position indication based on signals received from an external positioning system and using said primary position indication to determine a first position of said object, recording acceleration data of a cyclically moving object using inertial sensor signals or accelerometer sensor signals and integrating said acceleration data over a selected period of time to determine a tilting of said cyclically moving part of the object relative to a horizontal plane, recording direction data of said moving object based on measuring an external magnetic field of the cyclically moving part of the object using a magnetometer sensor to determine an orientation of said cyclically moving part relative to the external magnetic field, computing the velocity of said moving object in any direction based on said inertial sensor signals or accelerometer sensor signals, determining a secondary position indication of said object based on said first position, said direction data and said velocity data, and using said secondary position indication to determine a second position of said object.