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Apparatus and methods for ultrasonic sensor navigation

  • US 10,184,797 B2
  • Filed: 01/25/2016
  • Issued: 01/22/2019
  • Est. Priority Date: 12/18/2015
  • Status: Active Grant
First Claim
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1. A method for navigating with a device comprising:

  • processing a sequence of samples from an ultrasonic sensor of the device, wherein the processing comprises performing an ultrasonic flow analysis, wherein performing the ultrasonic flow analysis comprises determining change in relative location to an external object;

    determining a navigational constraint for the device based at least in part on the processed sequence of samples, the determined navigational constraint consisting of at least one of;

    a) a device angle;

    b) a misalignment angle of the device with respect to a direction of motion;

    c) relative heading changes obtained with respect to the external object;

    d) a speed of the device, wherein processing the sequence of samples from the ultrasonic sensor further comprises determining a distance to the external object by ranging, wherein ranging is an ultrasonic ranging that measures the distance to the external object, and wherein the speed of the device is estimated based at least in part on the ultrasonic flow analysis and the determined distance to the external object; and

    e) a context for the device, wherein the context is determined as consisting of at least one of;

    i) being static;

    ii) fidgeting motion; and

    iii) device usage; and

    providing a navigation solution for the device based at least in part on the determined navigational constraint.

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