Method and apparatus for in motion initialization of global navigation satellite system—inertial navigation system
US12313753B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 7, 2023 |
| Grant date | May 27, 2025 |
| Priority date | — |
| Expiry date | Jan 18, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/52
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A mobile device in a moving vehicle initializes a Global Navigation Satellite System (GNSS)—Inertial Navigation System (INS) system while the vehicle is in-motion with the orientation of the mobile device with respect to a global reference frame. The mobile device uses gyroscope measurements made while the vehicle is turning to determine a gravity vector. The gravity vector and accelerometer measurements may be used to determine a forward vector for the mobile device. A north vector is determined using the GNSS measurements. After the GNSS-INS system is calibrated, the mobile device may be positioned with respect to the vehicle. The orientation of the mobile device, prior to repositioning, may be compared to a current orientation, determined while the vehicle is in motion, in order to determine whether the GNSS-INS system should be re-initialized.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.