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Inertial sensor aided heading and positioning for GNSS vehicle navigation

Inactive Publication Date: 2012-07-05
QUALCOMM INC
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Benefits of technology

[0010]Disclosed is an apparatus and method for providing and using an accurate and improved heading for a mobile device in a vehicle. Before an improved heading estimate is determined, the mobile device determines if the mobile device is in a mounted state in a cradle attached to the vehicle; if so, then inertia sensor data may be valid. If already in a mounted stated, the mobile device determines whether the mobile device has been rotated in the cradle; if so, then inertia sensor data may no longer be reliable and a recali

Problems solved by technology

If already in a mounted stated, the mobile device determines whether the mobile device has been rotated in the cradle; if so, then inertia sensor data may no longer be reliable and a recalibration to determine a new relative orientation between the vehicle and the mobile device is needed.

Method used

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  • Inertial sensor aided heading and positioning for GNSS vehicle navigation
  • Inertial sensor aided heading and positioning for GNSS vehicle navigation
  • Inertial sensor aided heading and positioning for GNSS vehicle navigation

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Embodiment Construction

[0055]The detailed description set forth below in connection with the appended drawings is intended as a description of various aspects of the present disclosure and is not intended to represent the only aspects in which the present disclosure may be practiced. Each aspect described in this disclosure is provided merely as an example or illustration of the present disclosure, and should not necessarily be construed as preferred or advantageous over other aspects. The detailed description includes specific details for the purpose of providing a thorough understanding of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the concepts of the present disclosure. Acronyms and other descriptive terminology may be used merely for convenience and clarity and are not intended...

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Abstract

An apparatus and method for providing an improved heading estimate of a mobile device in a vehicle is presented. First, the mobile device determines if it is mounted in a cradle attached to the vehicle; if so, inertia sensor data may be valid. While in a mounted stated, the mobile device determines whether it has been rotated in the cradle; if so, inertia sensor data may no longer be reliable and a recalibration to determine a new relative orientation between the vehicle and the mobile device is needed. If the mobile device is mounted and not recently rotated, heading data from multiple sensors (e.g., GPS, gyroscope, accelerometer) may be computed and combined to form the improved heading estimate. This improved heading estimate may be used to form an improved velocity estimate. The improved heading estimate may also be used to compute a bias to correct a gyroscope.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This application claims the benefit of and priority under 35 U.S.C. §119(e) to U.S. Provisional Application No. 61 / 440,730, filed Feb. 8, 2011, and titled “Inertial Sensor Aided Heading and Positioning for GNSS Vehicle Navigation”, which is incorporated herein by reference. This application also claims the benefit of and priority under 35 U.S.C. §119(e) to U.S. Provisional Application No. 61 / 433,124, filed Jan. 14, 2011, and titled “Inertial Sensor Aided Heading and Positioning for GNSS Vehicle Navigation”, which is incorporated herein by reference. This application further claims the benefit of and priority under 35 U.S.C. §119(e) to U.S. Provisional Application No. 61 / 419,786, filed Dec. 3, 2010, and titled “Inertial Sensor Aided Heading and Positioning for GNSS Vehicle Navigation”, which is incorporated herein by reference.BACKGROUND[0002]I. Field of the Invention[0003]This disclosure relates generally to apparatus and methods for dete...

Claims

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Application Information

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IPC IPC(8): G06F15/00
CPCG01C25/005G01C21/165G01C21/26G01S19/14G01S19/47G01S19/52G01S19/393G01C21/188
Inventor OPSHAUG, GUTTORM R.CZOMPO, JOSEPHLUO, NINGJOHNSON, KELLY G.
Owner QUALCOMM INC
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