NAVIGATION SYSTEM AND METHOD

Abstract

A navigation system for aiding a human navigating, the navigation system includes a belt having a belt length and opposite belt ends, and includes an elongated compartment; a belt coupling arranged to the belt for coupling the belt ends; a compass sensor arranged to the belt and for sensing the compass direction based on the earth's magnetic field; a tactile unit arranged for tactile communicating a direction to the human; additional tactile actuators arranged to the belt and for communicating a direction to the human. The additional tactile actuators are distributed over the length of the belt. An elongated mesh is provided for arranging the elongated mesh inside the elongated compartment, the additional tactile actuators being arranged to the mesh. A processing unit is configured for controlling the navigation system.

Claims

1-33. (canceled)

34. A navigation system for aiding a user navigating, comprising: a belt having a belt length and opposite belt ends, and comprising an elongated compartment, the belt including a nonelastic material for providing the belt with an invariable length in a longitudinal direction; a belt coupling arranged to the belt for coupling the belt ends; a compass sensor arranged to the belt, for sensing a compass direction based on the earth's magnetic field; a tactile unit arranged to the belt coupling for tactile communicating a direction to the user; tactile actuators, arranged inside the elongated compartment of the belt and distributed over the length of the belt, for communicating a direction to the user; an elongated mesh having a size configured for arranging the elongated mesh inside the elongated compartment, wherein the tactile actuators are arranged to the mesh; and a processing unit configured to: receive the compass direction from the compass sensor; retrieve a waypoint defining a point to where the user is navigating; retrieve a current position of the user; determine a bearing based on the waypoint and the current position; determine an alignment based on the bearing and the compass direction; associate one of the tactile actuators with a deviation from the alignment; activate one of the tactile actuators based on the deviation from the alignment; and activate the tactile unit based on the alignment.

35. The navigation system of claim 34, wherein the processing unit is configured to activate the tactile unit or one of the tactile actuators when the bearing and the compass direction align within an alignment range.

36. The navigation system of claim 34, wherein the tactile unit is arranged under the belt coupling.

37. The navigation system of claim 34, wherein the tactile unit comprise a single tactile actuator.

38. The navigation system of claim 34, wherein the tactile actuators are evenly distributed over the length of the belt when also taking the tactile unit into account.

39. The navigation system of claim 34, wherein the tactile actuators are distributed mainly to the ends of the belt.

40. The navigation system of claim 39, wherein at least a part of the tactile unit is arranged inside the elongated compartment.

41. The navigation system of claim 34, wherein: the belt comprises a compartment opening for accessing the elongated compartment, and a closing element for closing the elongated compartment, and the compartment opening is arranged to a long edge of the elongated compartment.

42. The navigation system of claim 34, wherein: at least a part of the tactile unit is arranged to the mesh; the mesh is made of a non-stretchable material for providing the mesh in a longitudinal direction with an invariable length; the mesh comprises a mesh coupling arranged to an end of the mesh for coupling the mesh to the belt at a location close to the belt coupling; the navigation system further comprises an inside spacer material in use arranged between the tactile unit and the user and, between the tactile actuators and the user, and an outside spacer material in use arranged on an outside of the tactile unit relative to the user and, on an outside of the tactile actuators relative to the user; the belt coupling comprises a buckle and a buckle receiver arranged for cooperating with the buckle for forming a belt coupling; the tactile unit is arranged to the buckle receiver; or the belt comprises a fine adjustment element for fine adjusting the length of the belt, the fine adjustment element being arranged between the buckle and the belt or the buckle receiver and the belt.

43. The navigation system of claim 34, wherein: the belt comprises a coarse adjustment element for coarse adjusting the length of the belt, a second elongated compartment, the coarse adjustment element is arranged such that the belt length is changed halfway between the opposing ends of the belt; the coarse adjustment element comprises a coupling arranged inside the elongated compartment, the elongated compartment is arranged between the first belt end and halfway the belt length and the second elongated compartment is arranged between the second belt end and halfway the belt length; or the belt comprises two lobes arranged on both sides of the middle of the belt and in use on the bottom side of the belt.

44. The navigation system of claim 34, wherein: the processing unit is also configured to retrieve a compass compensation, determining the alignment is also based on the compass compensation; the processing unit is also configured to: receive an indication that the tactile unit is facing a specified direction; calculate a difference between the specified direction and the current compass direction; and store the difference as the compass compensation; the navigation system further comprises a first interface for inputting the specified direction; the processing unit is also configured to receive the specified direction from the first interface; the specified direction is North; the navigation system further comprises a second interface for inputting locations; the processing unit is also configured to receive a digital map, receive a first location from the second interface, receive a second location from the second interface, calculate the specified direction based on the first location and the second location; or the processing unit is also configured to: receive a first GNSS location from a GNSS sensor at a first moment in time; receive a second GNSS location from the GNSS sensor at a second moment in time, the user wearing the navigation system having travelled a distance in a straight line; receive at least one compass direction during the time interval between the first and the second moment in time; calculate a GNSS direction by subtracting the first GNSS location from the second GNSS location; calculate a difference between the GNSS direction and the at least one compass direction; and store the difference as the compass compensation.

45. The navigation system of claim 44, wherein the processing unit is also configured to: receive a plurality of compass directions during the time interval between the first and the second moment in time; and calculate the compass direction based on the plurality of compass directions

46. The navigation system of claim 44, further comprising a third interface for inputting a reference location, wherein the processing unit is also configured to: receive the reference location; receive an indication that the tactile unit is facing the reference location; receive the GNSS location from a GNSS sensor; calculate a GNSS direction by subtracting the GNSS location from the reference location; calculate a difference between the GNSS direction and the compass direction; and store the difference as the compass compensation.

47. The navigation system of claim 34, wherein: the processing unit is further configured to: determine a course based on a first position and a second position of the user; and determine a course alignment based on the course and the bearing; and activating the tactile unit or one of the tactile actuators comprises activating the tactile unit or one of the tactile actuators with an activation pattern based on the course alignment.

48. The navigation system according to claim 34, wherein the tactile unit comprises two tactile actuators arranged at opposite sides relative to the middle of the belt coupling.

49. A method for operating a navigation system that includes a belt having a belt length and opposite belt ends, and comprising an elongated compartment, the belt including a nonelastic material for providing the belt with an invariable length in a longitudinal direction; a belt coupling arranged to the belt for coupling the belt ends; a compass sensor arranged to the belt, for sensing a compass direction based on the earth's magnetic field; a tactile unit arranged to the belt coupling for tactile communicating a direction to the user; tactile actuators, arranged inside the elongated compartment of the belt and distributed over the length of the belt, for communicating a direction to the user; and an elongated mesh having a size configured for arranging the elongated mesh inside the elongated compartment, wherein the tactile actuators are arranged to the mesh, the method comprising: receiving a compass direction from the compass sensor; retrieving a waypoint defining the point where to the user is navigating; retrieving a current position of the user; determining a bearing direction based on the waypoint and the current position; determining an alignment based on the bearing direction and the compass direction; associating one of the tactile actuators with a deviation from the alignment; activating one of the tactile actuators based on the deviation from the alignment; and activating the tactile unit based on the alignment.

50. The method of claim 48, further comprising: retrieving a compass compensation, wherein determining the alignment is also based on the compass compensation.

51. A computer program product for operating a navigation system that includes a belt having a belt length and opposite belt ends, and comprising an elongated compartment, the belt including a nonelastic material for providing the belt with an invariable length in a longitudinal direction; a belt coupling arranged to the belt for coupling the belt ends; a compass sensor arranged to the belt, for sensing a compass direction based on the earth's magnetic field; a tactile unit arranged to the belt coupling for tactile communicating a direction to the user; tactile actuators, arranged inside the elongated compartment of the belt and distributed over the length of the belt, for communicating a direction to the user; and an elongated mesh having a size configured for arranging the elongated mesh inside the elongated compartment, wherein the tactile actuators are arranged to the mesh, the computer program product including a computer readable medium having computer readable code embodied therein, the computer readable code being configured such that, on execution by a suitable computer, the computer program product is caused to: receive a compass direction from the compass sensor; retrieve a waypoint defining the point where to the user is navigating; retrieve a current position of the user; determine a bearing direction based on the waypoint and the current position; determine an alignment based on the bearing direction and the compass direction; associate one of the tactile actuators with a deviation from the alignment; activate one of the tactile actuators based on the deviation from the alignment; and activate the tactile unit based on the alignment.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0187] The invention will be apparent from and elucidated further with reference to the embodiments described by way of example in the following description and with reference to the accompanying drawings, in which:

[0188] FIG. 1 schematically shows a perspective view of a user wearing a first embodiment of the navigation system;

[0189] FIG. 2 schematically shows the first embodiment of the navigation system, wherein the belt is laid out;

[0190] FIG. 3 schematically shows a first cross-section of the first embodiment of the belt of the navigation system as indicated in FIG. 2;

[0191] FIG. 4 schematically shows a second cross-section of the first embodiment of the belt of the navigation system as indicated in FIG. 2; and

[0192] FIG. 5 schematically shows an embodiment of a computer program product.

[0193] The figures are purely diagrammatic and not drawn to scale. In the figures, elements which correspond to elements already described may have the same reference numerals.

DETAILED DESCRIPTION OF THE FIGURES

[0194] FIG. 1 schematically shows a perspective view of a user 10 wearing a first embodiment of the navigation system 100. The navigation system comprises a belt 110, a compass sensor 120, a belt coupling 130, a processing unit 143 and a tactile unit 140.

[0195] The belt has a belt length and opposite belt ends spaced apart by the belt length. The belt coupling is arranged to the belt for coupling the belt ends. In the uncoupled condition, the belt coupling may be split in a buckle 131 and a buckle receiver 132 as shown in FIG. 2.

[0196] The compass sensor 120 is a magnetic sensor for sensing the magnetic field of the earth. The compass sensor is typically arranged to a location with few metal or magnetic objects, such that these don't interfere with the measurement of the compass sensor.

[0197] The belt is typically worn around the waist with the tactile unit arranged to the belt coupling. The tactile unit is typically arranged under the belt coupling, as the belt coupling is typically aligned with the umbilicus of the user. This has the advantage that the tactile unit is facing the natural direction of travel of the user. The tactile unit may comprise a tactile actuator for tactile communication with the user. The tactile unit may communicate via other means providing a tactile sensation, such as electric shocks or sound waves. The alignment of the tactile unit provides the advantage that the navigation system is able to tactile communicate to the user if the user is facing towards the waypoint.

[0198] The processing unit 143 functionally couples the compass sensor and the tactile unit. The processing unit is further functionally arranged to receive waypoint information specifying the point or location where the user wants to navigate to. The processing unit may be physically combined with the tactile unit or may be physically separated.

[0199] FIG. 2 schematically shows the first embodiment of the navigation system, wherein the belt is laid out.

[0200] The belt may further comprise a first set of additional tactile actuators 141, 141′, 141″ and a second set of additional actuators 142, 142′, 142″. The belt may further comprise a first elongated compartment 150 and a second elongated compartment 155 comprising the first set and the second set of additional tactile actuators respectively.

[0201] The additional tactile actuators allow for tactile communicating with the user in case the user is heading or navigating in a compass direction not aligned with the bearing. The additional tactile actuators have the effect that the tactile communication of these actuators allow to indicate that the user is heading or navigation off course by applying the tactile communication to another position on the body, such as another position around the waist. The belt defines a circumference around the body or waist. The tactile unit and additional tactile actuators are typically arranged along this circumference for applying tactile communication along this circumference. The tactile communication along this circumference may be enhanced by interpolating between the different tactile actuators and/or between the tactile unit and the tactile actuators. This interpolation provides the advantage that with a particular set of tactile actuators the granularity of the tactile communication is enhanced.

[0202] The navigation system preferably may use an AHRS or Attitude and Heading Reference System as compass sensor. The AHRS typically combines a magnetometer with an accelerometer and/or a gyroscope for enhancing the accuracy. The magnetometer typically measures the earth magnetic field. The AHRS typically also measures the direction of the gravitational force. The AHRS measures typically in three dimensions, such that the orientation or attitude of the AHRS is measured relative to the gravitational vector and the direction of the magnetic north. The AHRS typically combines or fuses the measurements of the different sensors for enhancing the accuracy of the orientation or attitude measurement using a sensor fuse algorithm. The AHRS may also be labelled a 9-DOF or 9 Degrees Of Freedom compass.

[0203] The first elongated compartment and the second elongated compartment are typically accessible through a first bottom side opening 151 and a second bottom side opening 156, respectively. The electronic components are typically connected via wires with each other in a bus or daisy chain topology. The elongated compartments have typically openings for running these wires. The first and second bottom side opening allow for the additional tactile actuators to be safely placed inside the elongated compartment, while in other circumstances, such as washing of the belt, the additional tactile actuators may be temporarily removed from the elongated compartments.

[0204] The additional tactile actuators may be arranged to a mesh for improving the stability of the position of the additional tactile actuators in the elongated compartments. The mesh is typically non-elastic in the elongated direction of the elongated compartment. The additional tactile actuators may be moulded onto the mesh for permanently link the additional tactile actuators to the mesh.

[0205] The belt may comprise a first lobe 152 and a second lobe 157. The lobes improve the ergonomics of the belt. Furthermore, the lobes may also improve the recognition of what is the bottom side of the belt, such that the belt is not worn upside-down.

[0206] The navigation system may comprise an information link 153. The information link may be a cable functionally capable of carrying information, such as a USB-cable or Firewire-cable. The information link may be functionally coupled to the processing unit for providing waypoints and/or current positions of the user.

[0207] FIG. 3 schematically shows a first cross-section of the first embodiment of the belt 110 of the navigation system 100 as indicated in FIG. 2. The cross-section shows an additional tactile actuator 141″ arranged inside the belt. The belt may comprise an inside spacer material 164 and an outside spacer material 164′, such as a padded textile or as a spacer mesh. The inside spacer material is disposed between the additional tactile actuator and the user. The outside spacer material is disposed on an outside of the additional tactile actuator, such as between the additional tactile actuator and the sizing straps. The spacer material may advantageously be used to form the first elongated compartment 150 by extending the spacer material to all sides. The first elongated compartment may be accessible through a first bottom side opening 151. The first bottom side opening may be a zipper.

[0208] The belt may comprise a mesh 165 moulded into the additional tactile actuator for improving the stability of the position of the additional tactile actuators. The stability of the position may further be improved by a foam 166 partly surrounding the additional tactile actuators. The foam is typically arranged to sides of the additional tactile actuators which do not interact with the user. The sides interacting with the user are the side facing the user and the side facing away from the user. The sides not interaction with the user are the sides perpendicular to user. The belt may further comprise foam attachments 167, such as rivets, for attaching the foam to the mesh for further stabilizing the position of the additional tactile actuators, compass sensor or other electronic components by improving the stability of the position of the mesh.

[0209] The cross-section shows a first sizing strap 160 and a second sizing strap 160′. The sizing straps are arranged to an outside of the additional tactile actuators, such that the sizing straps may apply a pressure on the additional tactile actuators and the tactile unit such that the contact with the user is improved for improved tactile communication with the user. The belt may comprise sizing strap loops 161 for arranging the first sizing strap and the second sizing strap to the other parts of the belt. The sizing strap loops may have the same effect as strap loops on jeans for holding the belt relative to the jeans.

[0210] The first sizing strap and the second sizing strap are typically of a nonelastic material at least nonelastic in a longitudinal direction for fixating and/or determining the length of the belt. The first sizing strap is typically fixated to a first end of the belt. The second sizing strap is typically fixated to a second end of the belt. The first sizing strap and the second sizing strap may comprise each a hook-and-loop surface facing each other for coupling with each other. This configuration allows to adjust the length of the belt, typically a coarse adjustment. The hook-and-loop fastener surfaces are typically arranged in one of the elongated compartments, such that the coarse adjustment is unexposed to for example the weather while used. Another advantage is that it is prevented that the coarse adjustment is accidentally loosened.

[0211] The belt may comprise a cover flap 162 for covering at least partly the sizing straps. The cover flap may comprise a cover flap fixation section 163 for fixating the cover flap over at least partly the sizing straps. The cover flap fixation section is preferably a hook-and-loop strip.

[0212] FIG. 4 schematically shows a second cross-section of the first embodiment of the belt 110 of the navigation system 100 as indicated in FIG. 2. The cross-section shows the tactile unit 140 arranged in a particular similar way as the cross-section shown in FIG. 3.

[0213] The belt comprises the belt coupling 130. The belt coupling comprises a buckle receiver 132. The belt coupling may further comprise a buckle webbing 170 arranged for fixating the buckle receiver to the belt. The buckle receiver further comprises a buckle receiver opening 133 defining a space wherein the buckle may be received.

[0214] FIG. 5 schematically shows an embodiment of a computer program product 1000, computer readable medium 1010 and/or non-transitory computer readable storage medium comprising a computer readable code 1020. The computer readable code implements methods mentioned throughout the description according to the invention.

[0215] It should be noted that the figures are purely diagrammatic and not drawn to scale. In the figures, elements which correspond to elements already described may have the same reference numerals.

[0216] It will be appreciated that the invention also applies to computer programs, particularly computer programs on or in a carrier, adapted to put the invention into practice. The program may be in the form of a source code, an object code, a code intermediate source and an object code such as in a partially compiled form, or in any other form suitable for use in the implementation of the method according to the invention. It will also be appreciated that such a program may have many different architectural designs. For example, a program code implementing the functionality of the method or system according to the invention may be sub-divided into one or more sub-routines. Many different ways of distributing the functionality among these sub-routines will be apparent to the skilled person. The sub-routines may be stored together in one executable file to form a self-contained program. Such an executable file may comprise computer-executable instructions, for example, processor instructions and/or interpreter instructions (e.g. Java interpreter instructions). Alternatively, one or more or all of the sub-routines may be stored in at least one external library file and linked with a main program either statically or dynamically, e.g. at run-time. The main program contains at least one call to at least one of the sub-routines. The sub-routines may also comprise function calls to each other. An embodiment relating to a computer program product comprises computer-executable instructions corresponding to each processing stage of at least one of the methods set forth herein. These instructions may be sub-divided into sub-routines and/or stored in one or more files that may be linked statically or dynamically. Another embodiment relating to a computer program product comprises computer-executable instructions corresponding to each means of at least one of the systems and/or products set forth herein. These instructions may be sub-divided into sub-routines and/or stored in one or more files that may be linked statically or dynamically.

[0217] The carrier of a computer program may be any entity or device capable of carrying the program. For example, the carrier may include a data storage, such as a ROM, for example, a CD ROM or a semiconductor ROM, or a magnetic recording medium, for example, a hard disk. Furthermore, the carrier may be a transmissible carrier such as an electric or optical signal, which may be conveyed via electric or optical cable or by radio or other means. When the program is embodied in such a signal, the carrier may be constituted by such a cable or other device or means. Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted to perform, or used in the performance of, the relevant method.

[0218] It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. Use of the verb “comprise” and its conjugations does not exclude the presence of elements or stages other than those stated in a claim. The article “a” or “an” preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the device claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0219] Examples, embodiments or optional features, whether indicated as non-limiting or not, are not to be understood as limiting the invention as claimed.

TABLE-US-00001 LIST OF REFERENCE NUMERALS   10 human, user   20 torso   25 waist  100 navigation system  110 belt  120 compass sensor  130 belt coupling  131 buckle  132 buckle receiver  133 buckle receiver opening  140 tactile unit   141, first set of additional tactile actuators 141′, 141″   142, second set of additional tactile actuators 142′, 142″  143 processing unit  150 first elongated compartment  151 first bottom side opening of first elongated compartment  152 first lobe  153 information link  154 halfway length of belt  155 second elongated compartment  156 second bottom side opening of second elongated compartment  157 second lobe  160 first sizing strap   160′ second sizing strap  161 sizing strap loop  162 cover flap  163 cover flap fixation section  164 inside spacer material   164′ outside spacer material  165 mesh  166 foam  167 foam attachments  170 buckle webbing (buckle fixation) 1000 computer program product 1010 computer readable medium 1020 computer readable code