Method and apparatus for handling vertical orientations of devices for constraint free portable navigation
First Claim
1. A method for enhancing a navigation solution about a device, wherein mobility of the device may be constrained or unconstrained within a platform and the device can be tilted to any orientation, including vertical or near vertical orientations, the device having sensors configured to provide sensor readings, the sensors have a corresponding axes frame comprising three orthogonal axes, wherein the axes frame has a first definition, and the readings having error parameters, characterized by:
- i) detecting a transition in a forward axis of the device, wherein the transition involves a vertical or near vertical orientation,ii) where the transition is detected, updating the axes frame, wherein updating the axes frame comprises changing the axes frame to a second definition, and wherein at least one axis of the three orthogonal axes of the second definition is changed to another axis as compared to the first definition, changing the sensor readings and error parameters according to the updated axes frame, adjusting an estimated orientation of the device according to the updated axes frame, and at least partially re-initializing the navigation solution, andiii) outputting the enhanced navigation solution.
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Abstract
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).
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Citations
11 Claims
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1. A method for enhancing a navigation solution about a device, wherein mobility of the device may be constrained or unconstrained within a platform and the device can be tilted to any orientation, including vertical or near vertical orientations, the device having sensors configured to provide sensor readings, the sensors have a corresponding axes frame comprising three orthogonal axes, wherein the axes frame has a first definition, and the readings having error parameters, characterized by:
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i) detecting a transition in a forward axis of the device, wherein the transition involves a vertical or near vertical orientation, ii) where the transition is detected, updating the axes frame, wherein updating the axes frame comprises changing the axes frame to a second definition, and wherein at least one axis of the three orthogonal axes of the second definition is changed to another axis as compared to the first definition, changing the sensor readings and error parameters according to the updated axes frame, adjusting an estimated orientation of the device according to the updated axes frame, and at least partially re-initializing the navigation solution, and iii) outputting the enhanced navigation solution. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A device having constrained or unconstrained mobility within a platform and being tiltable to any orientation including vertical or near vertical orientations, the device comprising:
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a. an assembly of sensors configured to provide sensor readings relating to navigational information about the device and producing an output indicative thereof, the sensors having a corresponding axes frame comprising three orthogonal axes, wherein the axes frame has a first definition, and the readings having corresponding error parameters; and b. at least one processor for enhancing a navigation solution about the device, coupled to receive the readings from the sensor assembly, and operative to; i) detect a transition in a forward axis of the device, wherein the transition involves a vertical or near vertical orientation, ii) where the transition is detected, update the axes frame, wherein updating the axes frame comprises changing the axes frame to a second definition, and wherein at least one axis of the three orthogonal axes of the second definition is changed to another axis as compared to the first definition, change the sensor readings and error parameters according to the updated axes frame, adjust an estimated orientation of the device according to the updated axes frame, and at least partially re-initialize the navigation solution, and iii) output the enhanced navigation solution. - View Dependent Claims (10, 11)
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Specification