Determination of position, velocity and/or heading by simultaneous use of on-device and on-vehicle information
First Claim
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1. A method to improve a navigation solution, the method comprising:
- communicatively coupling a first navigation system to a second navigation system, wherein the first navigation system is coupled to the second navigation system to;
receive a signal from the second navigation system;
receiving, at the first navigation system, the signal from the second navigation system, wherein the signal comprises at least one of a sensor signal or a global navigation satellite system (GNASS ) signal;
receiving, at the first navigation system, a first sensor signal from a sensor in the first navigation system;
comparing, at the first navigation system, quality or type of the signal from the second navigation system and the first sensor signal from the first navigation system, including comparing a first sensor location with respect to the first navigation system the first sensor signal is obtained to a second sensor location with respect to the second navigation system the signal is obtained; and
setting the navigation solution at the first navigation system based on a comparison of the signal from the second navigation system, wherein either the first sensor signal from the sensor in the first navigation system or the signal from the second navigation system is insufficient to determine the navigation solution, and wherein setting the navigation solution at the first navigation system comprises determining the navigation solution by integrating the signal from the second navigation system with the first sensor signal from the sensor in the first navigation system.
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Abstract
Systems, apparatus and methods to supplement, combine, replace, verify and calibrate in-vehicle and in-device sensors and GNSS systems are presented. A mobile device and a vehicle navigation system share sensor and GNSS information to arrive at an improved navigation solution. For example, a navigation solution computed by a vehicle may rely on a sensor signal from a mobile device. Similarly, a navigation solution computed by a mobile device may use a sensor signal or a GNSS signal from a vehicle.
25 Citations
27 Claims
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1. A method to improve a navigation solution, the method comprising:
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communicatively coupling a first navigation system to a second navigation system, wherein the first navigation system is coupled to the second navigation system to;
receive a signal from the second navigation system;receiving, at the first navigation system, the signal from the second navigation system, wherein the signal comprises at least one of a sensor signal or a global navigation satellite system (GNASS ) signal; receiving, at the first navigation system, a first sensor signal from a sensor in the first navigation system; comparing, at the first navigation system, quality or type of the signal from the second navigation system and the first sensor signal from the first navigation system, including comparing a first sensor location with respect to the first navigation system the first sensor signal is obtained to a second sensor location with respect to the second navigation system the signal is obtained; and setting the navigation solution at the first navigation system based on a comparison of the signal from the second navigation system, wherein either the first sensor signal from the sensor in the first navigation system or the signal from the second navigation system is insufficient to determine the navigation solution, and wherein setting the navigation solution at the first navigation system comprises determining the navigation solution by integrating the signal from the second navigation system with the first sensor signal from the sensor in the first navigation system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 26, 27)
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10. A first navigation system for improving a navigation solution, the first navigation system comprising:
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an interface to a second navigation system and configured to;
receive a signal from the second navigation system, wherein the signal comprises at least one of a sensor signal or a global navigation satellite system (GNSS) signal; anda processor coupled to the interface and configured to; receive, at the first navigation system, a first sensor signal from a sensor in the first navigation system; compare, at the first navigation system, characteristics of the signal from the second navigation system and the first sensor signal from the first navigation system, including compare a first sensor location with respect to the first navigation system the first sensor signal is obtained to a second sensor location with respect to the second navigation system the signal is obtained; and set the navigation solution based on a comparison of the signal from the second navigation system, wherein either the first sensor signal from the sensor in the first navigation system or the signal from the second navigation system is insufficient to determine the navigation solution, and wherein set the navigation solution at the first navigation system comprises determine the navigation solution by integrating the signal from the second navigation system with the first sensor signal from the sensor in the first navigation system. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A first navigation system for improving a navigation solution, the first navigation system comprising:
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means for communicatively coupling the first navigation system to a second navigation system, wherein the first navigation system is coupled to the second navigation system to;
receive a signal from the second navigation system;means for receiving, at the first navigation system, the signal from the second navigation system, wherein the signal comprises at least one of a sensor signal or a global navigation satellite system (GNSS) signal; means for receiving, at the first navigation system, a first sensor signal from a sensor in the first navigation system; means for comparing, at the first navigation system, characteristics of the signal from the second navigation system and the first sensor signal from the first navigation system, including means for comparing a first sensor location with respect to the first navigation system the first sensor signal is obtained to a second sensor location with respect to the second navigation system the signal is obtained, wherein a GNSS antenna location of the first navigation system is compared to the a GNSS antenna location of the second navigation system; and means for setting the navigation solution at the first navigation system based on a comparison of the signal from the second navigation system, wherein either the first sensor signal from the sensor in the first navigation system or the signal from the second navigation system is insufficient to determine the navigation solution, and wherein the means for setting the navigation solution at the first navigation system comprises means for determining the navigation solution by integrating the signal from the second navigation system with the first sensor signal from the sensor in the first navigation system. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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25. A non-transitory computer-readable storage medium including program code stored thereon for a first navigation system to improve a navigation solution, comprising program code to:
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communicatively couple the first navigation system to a second navigation system wherein the first navigation system is coupled to the second navigation system to; receive a signal from the second navigation system; receive, at the first navigation system, the signal from the second navigation system, wherein the signal comprises at least one of a sensor signal or a global navigation satellite system (GNSS) signal; receive, at the first navigation system, a first sensor signal from a sensor in the first navigation system; compare, at the first navigation system, characteristics of the signal from the second navigation system and the first sensor signal from the first navigation system, including compare a first sensor location with respect to the first navigation system the first sensor signal is obtained to a second sensor location with respect to the second navigation system the signal is obtained; and set the navigation solution at the first navigation system based on a comparison of the signal from the second navigation system, wherein either the first sensor signal from the sensor in the first navigation system or the signal from the second navigation system is insufficient to determine the navigation solution, and wherein set the navigation solution at the first navigation system comprises determine the navigation solution by integrating the signal from the second navigation system with the first sensor signal from the sensor in the first navigation system.
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Specification