Navigation System Orientation Transition Handling
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Solution Overview
Problem
Existing navigation systems face challenges in providing accurate and seamless navigation solutions for mobile devices that can be tilted to any orientation, including vertical or near vertical, without degrading performance, especially in indoor environments where traditional methods like AGPS and cell tower identification are insufficient.
Innovation Solution
A method and apparatus that detect transitions in the forward axis of a device, update the axes frame, and adjust sensor readings and error parameters accordingly, allowing for seamless navigation regardless of the device's orientation, including vertical or near vertical positions, using sensors like accelerometers, gyroscopes, and magnetometers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the device is tethered to the platform with careful manual mounting to achieve proper sensor alignment, then navigation accuracy is improved, but device mobility and ease of operation deteriorate
Solution Approach 1:
The system dynamically adapts the coordinate frame based on device orientation transitions. When the device moves from horizontal to vertical orientation, the system detects the transition and updates the reference frame accordingly, allowing the device to maintain navigation accuracy regardless of whether it is tethered or mobile
Solution Approach 2:
The system changes the parameter representation by switching between different coordinate frames (horizontal vs vertical). This allows the navigation system to accommodate any device orientation by transforming the sensor measurements into the appropriate reference frame, resolving the contradiction between fixed alignment requirements and mobile device flexibility
2Ease of operation
If the device is allowed to move freely within the platform without tethering, then ease of operation is improved, but sensor alignment and navigation accuracy deteriorate
Solution Approach 1:
The system implements dynamic coordinate frame adaptation that automatically adjusts to the device's current orientation. By detecting transitions between horizontal and vertical states and updating the reference frame accordingly, the system maintains measurement precision even when the device moves freely without tethering
Solution Approach 2:
The navigation system becomes universal by accommodating both tethered and mobile device modes. The coordinate frame transition mechanism allows the same system to maintain accuracy whether the device is fixed or moving freely, eliminating the need for different systems for different deployment scenarios
3Ease of operation
If the device is tilted to vertical or near vertical orientations for flexible usage, then ease of operation is improved, but azimuth and roll variations cause navigation performance to deteriorate
Solution Approach 1:
The system dynamically switches coordinate frames based on device orientation. When vertical orientation is detected, the system transitions to a vertical coordinate frame where azimuth and roll are redefined relative to the new reference, preventing the large variations that would otherwise occur and maintaining azimuth estimation accuracy
Solution Approach 2:
The system takes preliminary action by detecting orientation transitions before they cause navigation errors. By proactively switching coordinate frames when transitioning from horizontal to vertical orientation, the system prevents the azimuth and roll variations from occurring in the first place, maintaining continuous navigation performance
Data Source
AI summary
The present disclosure relates to a method and apparatus for enhancing a navigation solution of a device within a platform (such as for example person, vehicle or vessel), wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the device can be tilted to any orientation including vertical or near vertical orientations, while still providing a seamless navigation solution. This method can enhance navigation solutions utilizing measurements from sensors (such as, for example, accelerometers, gyroscopes, magnetometers, etc.), whether in the presence or in the absence of absolute navigational information (such as, for example, GNSS or WiFi positioning).