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Systems and methods for estimating initial heading at start-up of navigation

  • US 10,324,197 B1
  • Filed: 11/13/2018
  • Issued: 06/18/2019
  • Est. Priority Date: 11/13/2018
  • Status: Active Grant
First Claim
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1. A computer-implemented method of determining a heading of a mobile device, comprising:

  • spawning a plurality of clone processes, each clone process of the plurality of clone processes being an Extended Kalman filter, each clone process given an identical location and speed, and each clone process given a unique direction;

    calculating, by each clone process, a respective position at the end of a frame period;

    terminating clone processes whose position at the end of the frame period is outside a predetermined threshold, the terminating results in remaining clone processes; and

    determining the heading of the mobile device from the remaining clone processes.

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