US 12,313,409 B2
Method of estimating a metric of interest related to the motion of a body
Ramsey Faragher, Cambridge (GB); Robert Mark Crockett, Hertfordshire (GB); and Peter Duffett-Smith, Huntingdon (GB)
Assigned to FOCAL POINT POSITIONING LIMITED, Cambridge (GB)
Filed by Focal Point Positioning Limited, Cambridge (GB)
Filed on Apr. 12, 2021, as Appl. No. 17/227,564.
Application 17/227,564 is a continuation of application No. PCT/GB2019/052901, filed on Oct. 11, 2019.
Claims priority of application No. 1816655 (GB), filed on Oct. 12, 2018; and application No. 1905586 (GB), filed on Apr. 18, 2019.
Prior Publication US 2021/0254979 A1, Aug. 19, 2021
Int. Cl. G01C 21/16 (2006.01); G01C 21/20 (2006.01); G01S 19/49 (2010.01); G06F 3/01 (2006.01); G06F 3/0481 (2022.01)
CPC G01C 21/1654 (2020.08) [G01C 21/1652 (2020.08); G01C 21/1656 (2020.08); G01C 21/20 (2013.01); G06F 3/011 (2013.01); G01S 19/49 (2013.01); G06F 3/0481 (2013.01)] 41 Claims
OG exemplary drawing
 
1. A computer-implemented method performed in a tracking system for tracking the motion of a body, as a function of time, the method comprising:
(a) during a first time period, obtaining first data related to the motion of a body from at least one primary positioning unit, wherein said at least one primary positioning unit is mounted on a first platform carried on the body, or wherein said at least one primary positioning unit is separate to the body, said at least one primary positioning unit being operational during the first time period, and wherein the at least one primary positioning unit is configured to provide position and navigation data directly;
(b) during the first time period, obtaining second data from one or more secondary sensors configured to make measurements from which position or movement may be determined, whereby said second data comprises measurements from which position or movement may be determined, said one or more secondary sensors being mounted on one or more second platforms carried on the body, wherein the first platform and the one or more second platforms can move independently of one another;
(c) generating first training data comprising the first data, the second data, which include orientation information of the first platform and the one or more second platforms, and at least one training metric related to the motion of the body during the first time period, wherein the training metric is determined using at least the first data obtained from the at least one primary positioning unit, and wherein the training metric includes a trajectory of the body during the first time period;
(d) during a second time period, obtaining third data from the one or more secondary sensors, said third data comprising measurements from which position or movement may be determined; and
(e) analysing the third data to estimate at least one first metric related to the motion of the body during the second time period using a first algorithm trained using the first training data, including relative orientations between the first platform and the one or more second platforms during the obtaining of the first data and the second data.