Correction of motion sensor and global navigation satellite system data of a mobile device in a vehicle
US11397086B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 6, 2020 |
| Grant date | Jul 26, 2022 |
| Priority date | — |
| Expiry date | Jul 10, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/52
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.