Patent ID: 7561960

Claim:
A personal navigation system, the system comprising: one or more sensors adapted to sense motion of a human and to output signals corresponding to the motion of the human; a human-motion-classification processing block adapted to receive sensor data from the one or more sensors, the human-motion-classification processing block comprising: a Kalman filter processing block adapted to execute at least one Kalman filter; an inertial navigation processing block adapted to receive input sensor data from the one or more sensors and to output a navigation solution; and a motion classification processing block adapted to execute a motion classification algorithm that implements a step-time threshold between two types of motion, the step-time threshold determined from running model parameters, walking model parameters, and a threshold speed, wherein the motion classification processing block is further adapted to identify a type of motion, and to output a distance-traveled estimate to the Kalman filter processing block based on the identified type of motion, wherein the at least one Kalman filter provides corrections to the motion classification processing block.