Cradle rotation insensitive inertial navigation

A rotation matrix and inertial sensor technology, applied in navigation, surveying and navigation, navigation through speed/acceleration measurement, etc., can solve the problems of weakened reliability of position estimates, inaccurate misalignment calibration, increased offset, etc.

Inactive Publication Date: 2018-08-17
QUALCOMM INC
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Problems solved by technology

The reliability of the position estimate may further degrade over time due to increased offset, inaccurate m...

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  • Cradle rotation insensitive inertial navigation
  • Cradle rotation insensitive inertial navigation
  • Cradle rotation insensitive inertial navigation

Examples

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[0023]Presented herein are some example techniques that may be implemented in various methods and apparatuses in mobile devices, potentially providing or otherwise supporting cradle rotation insensitive inertial navigation. Many vehicles (eg, automobiles, bicycles, boats, recreational vehicles, etc.) include brackets configured to secure a mobile device to the vehicle. However, these brackets may allow the relative orientation between the mobile device and the vehicle to change over time. That is, the mechanical assembly within the bracket may be slack and allow the mobile device to move, or the bracket may be configured to allow the mobile device to rotate or otherwise adjust to improve the viewing angle for the user. In many systems that support GNSS and INS, misalignment between the vehicle frame (eg, v-frame) and the moving subject frame (b-frame) can be calibrated prior to using the INS. Once calibrated, in the event of a change in orientation between the v-frame and b-f...

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Abstract

Techniques are provided which may be implemented using various methods and/or apparatuses in a mobile device to provide cradle insensitive inertial navigation. An example method for determining alignment changes between a first body frame and a second body frame according to the disclosure includes obtaining one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame, determining a compensation information based on an analysis of the one or more images, and determininga position based on one or more inertial sensors and the compensation information.

Description

Background technique [0001] Global Navigation Satellite System (GNSS) receivers have been incorporated into numerous devices including mobile devices such as mobile phones, wrist watches, and other portable devices. Many small mobile devices are configured to be mounted in a cradle device or worn by a user, and can utilize GNSS signals and inertial navigation systems (INS) to provide positioning information. The position estimate may be calculated by receiving and processing satellite positioning signals. However, satellite positioning signals are typically blocked and mobile devices can utilize inertial navigation techniques to estimate incremental positions. In general, GNSS receivers also require more power, which can be a problem for smaller mobile devices. To conserve battery power, mobile devices may choose to utilize inertial navigation techniques. [0002] Inertial navigation techniques may rely on measurements from inertial sensors such as accelerometers and gyrosc...

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Application Information

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IPC IPC(8): G01C21/16G01C25/00H04B1/3877H04W4/02G06T7/73H04W4/80
CPCG01C25/00H04B1/3877H04W4/027G06T7/74G06T2207/30244G01C21/1656G06T7/30H04W4/024H04W4/80G01C25/005H04N23/50
Inventor 张文涛
Owner QUALCOMM INC
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