| US 7,543,392 B2 | ||
| Motion estimation method and system for mobile body | ||
| Woong Kwon, Gyeonggi-do (Korea, Republic of); Kyung-shik Roh, Gyeonggi-do (Korea, Republic of); Woo-sup Han, Gyeonggi-do (Korea, Republic of); Young-bo Shim, Seoul (Korea, Republic of); and Boldyrev Serguei, Gyeonggi-do (Korea, Republic of) | ||
| Assigned to Samsung Electronics Co., Ltd., Suwon-Si, Gyeonggi-Do (Korea, Republic of) | ||
| Filed on Nov. 08, 2004, as Appl. No. 10/982,909. | ||
| Claims priority of application No. 10-2003-0078873 (KR), filed on Nov. 08, 2003. | ||
| Prior Publication US 2005/0125108 A1, Jun. 09, 2005 | ||
| Int. Cl. G01C 19/00 (2006.01); G01C 25/00 (2006.01) | ||
| U.S. Cl. 33—320 [33/316; 33/319; 33/272; 33/357; 73/1.75; 73/1.76; 73/1.77; 434/186; 701/224] | 14 Claims |
| 14. A motion estimation system for a mobile body in which a gyro, odometers, and compasses are installed, the system comprising:
a magnetic field calculator calculating the magnitudes of magnetic fields of a first compass and a second compass of the mobile
body;
a magnetic field comparator obtaining differences between the magnitudes of the magnetic fields of the first and second compasses
and the magnitude of a geomagnetic field, and comparing the differences with a first threshold value;
a geomagnetic region determiner determining whether a position of the mobile body belongs to a region where the geomagnetism
works according to the comparison result; and
a moving direction estimator estimating a moving direction of the mobile body by determining whether or not to use azimuth
angles of the compasses for direction estimation of the mobile body according to the determination result.
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