Cradle rotation insensitive inertial navigation
First Claim
1. An apparatus for determining alignment changes between a first body frame and a second body frame, comprising:
- a memory unit;
one or more inertial sensors;
at least one processor communicatively coupled to the memory unit and the one or more inertial sensors and configured to;
determine a distance between a first position of the apparatus computed based on global navigation satellite system (GNSS) signals received by a GNSS receiver of the apparatus and a second position of the apparatus computed based on measurements of the one or more inertial sensors of the apparatus;
obtain one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame responsive to distance exceeding a distance threshold value, wherein the one or more images include an image of a fixed object associated with the second body frame, and wherein the first body frame is associated with a mobile device and the second body frame is associated with a vehicle;
determine a compensation information, representative of an estimate of the detected change in alignment between the first body frame and the second body frame, based on an analysis of the one or more images; and
determine a position based on the one or more inertial sensors and the compensation information representative of the estimate of the detected change in alignment between the first body frame and the second body frame.
1 Assignment
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Accused Products
Abstract
Techniques are provided which may be implemented using various methods and/or apparatuses in a mobile device to provide cradle insensitive inertial navigation. An example method for determining alignment changes between a first body frame and a second body frame according to the disclosure includes obtaining one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame, determining a compensation information based on an analysis of the one or more images, and determining a position based on one or more inertial sensors and the compensation information.
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Citations
31 Claims
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1. An apparatus for determining alignment changes between a first body frame and a second body frame, comprising:
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a memory unit; one or more inertial sensors; at least one processor communicatively coupled to the memory unit and the one or more inertial sensors and configured to; determine a distance between a first position of the apparatus computed based on global navigation satellite system (GNSS) signals received by a GNSS receiver of the apparatus and a second position of the apparatus computed based on measurements of the one or more inertial sensors of the apparatus; obtain one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame responsive to distance exceeding a distance threshold value, wherein the one or more images include an image of a fixed object associated with the second body frame, and wherein the first body frame is associated with a mobile device and the second body frame is associated with a vehicle; determine a compensation information, representative of an estimate of the detected change in alignment between the first body frame and the second body frame, based on an analysis of the one or more images; and determine a position based on the one or more inertial sensors and the compensation information representative of the estimate of the detected change in alignment between the first body frame and the second body frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for determining alignment changes between a first body frame and a second body frame, comprising:
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determining a distance between a first position of the first body frame based on global navigation satellite system (GNSS) signals received by a GNSS receiver of the apparatus and a second position of the first body frame computed based on measurements of the one or more inertial sensors of the apparatus; obtaining one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame responsive to distance exceeding a distance threshold value, wherein the one or more images include an image of a fixed object associated with the second body frame, and wherein the first body frame is associated with a mobile device and the second body frame is associated with a vehicle; determining a compensation information, representative of an estimate of the detected change in alignment between the first body frame and the second body frame, based on an analysis of the one or more images; and determining a position based on one or more inertial sensors and the compensation information representative of the estimate of the detected change in alignment between the first body frame and the second body frame. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A non-transitory machine-readable medium comprising instructions for determining alignment changes between a first body frame and a second body frame, the instructions comprising:
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code for determining a distance between a first position of the first body frame based on global navigation satellite system (GNSS) signals received by a GNSS receiver associated with the first body frame and a second position of the first body frame computed based on measurements of the one or more inertial sensors associated with the first body frame; code for obtaining one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame responsive to distance exceeding a distance threshold value, wherein the one or more images include an image of a fixed object associated with the second body frame and wherein the first body frame is associated with a mobile device and the second body frame is associated with a vehicle; code for determining a compensation information, representative of an estimate of the detected change in alignment between the first body frame and the second body frame, based on an analysis of the one or more images; and code for determining a position based on one or more inertial sensors and the compensation information representative of the estimate of the detected change in alignment between the first body frame and the second body frame. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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26. An apparatus for determining alignment changes between a first body frame and a second body frame, comprising:
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means for determining a distance between a first position of the apparatus computed based on global navigation satellite system (GNSS) signals received by a GNSS receiver of the apparatus and a second position of the apparatus computed based on measurements of the one or more inertial sensors of the apparatus; means for obtaining one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame, wherein the one or more images include an image of a fixed object associated with the second body frame, and wherein the first body frame is associated with a mobile device and the second body frame is associated with a vehicle; means for determining a compensation information, representative of an estimate of the detected change in alignment between the first body frame and the second body frame responsive to distance exceeding a distance threshold value, based on an analysis of the one or more images; and means for determining a position based on one or more inertial sensors and the compensation information representative of the estimate of the detected change in alignment between the first body frame and the second body frame. - View Dependent Claims (27, 28, 29, 30, 31)
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Specification