DETERMINATION OF POSITION, VELOCITY AND/OR HEADING BY SIMULTANEOUS USE OF ON-DEVICE AND ON-VEHICLE INFORMATION

• US 20140163870A1
• Filed: 11/14/2013
• Published: 06/12/2014
• Est. Priority Date: 12/06/2012
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: RILEY, Wyatt Thomas
• Granted Patent: US 10,041,798 B2
• Time in Patent Office: Days
• US Class Current: 701/470
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems

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.

Claims

1. A method to improve a navigation solution, the method comprising:

commutatively coupling a first navigation system to a second navigation system;

receiving, at the first navigation system, 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; and

determining the navigation solution at the first navigation system based on the signal from the second navigation system.

2. The method of claim 1, wherein the first navigation system comprises a vehicle navigation system and the second navigation system comprises a navigation system of a mobile device.

3. The method of claim 1, wherein the first navigation system comprises a navigation system of a mobile device and the second navigation system comprises a vehicle navigation system.

4. The method of claim 1, wherein the signal from the second navigation system comprises the sensor signal from a sensor the second navigation system.

5. The method of claim 4, wherein the sensor signal comprises a turn-rate value.

6. The method of claim 4, wherein the sensor signal comprises a speedometer value.

7. The method of claim 4, wherein the sensor signal comprises an accelerometer value.

8. The method of claim 4, wherein the sensor signal comprises a gyroscope value.

9. The method of claim 1, wherein the signal comprises the GNSS signal.

10. The method of claim 1, wherein determining the navigation solution comprises:

receiving a sensor signal from a sensor in the first navigation system;

selecting between the sensor signal from the first navigation system and the signal from the second navigation system based on a desired characteristic resulting is a signal with the desired characteristic; and

determining the navigation solution at the first navigation system based on the signal with the desired characteristic;

wherein the signal from the second navigation system comprises the sensor signal from a sensor in the second navigation system.

11. The method of claim 1, further comprising determining one of the first navigation system and the second navigation system is in a mounted state.

12. The method of claim 1, further comprising calibrating a sensor in the first navigation system with the signal from the second navigation system.

13. The method of claim 1, further comprising sending a sensor signal from the first navigation system to calibrate a sensor in the second navigation system.

14. A first navigation system for improving a navigation solution, the first navigation system comprising:

an interface to a second navigation system and configure to receive a signal from the second navigation system, wherein the signal from the second navigation system comprises at least one of a sensor signal or a global navigation satellite system (GNSS) signal; and

a processor coupled to the interface and conferred to determine the navigation solution based on the signal from the second navigation system.

15. The first navigation system of claim 14, wherein the first navigation system comprises a vehicle navigation system and the second navigation system comprises a navigation system of a mobile device.

16. The first navigation system of claim 14, wherein the first navigation system comprises a navigation system of a mobile device and the second navigation system comprises a vehicle navigation system.

17. The first navigation system of claim 14, wherein the interface comprises a Bluetooth interface.

18. The first navigation system of claim 14, wherein the signal from the second navigation system comprises the sensor signal from a sensor in the second navigation system.

19. The first navigation system of claim 14, wherein the signal from the second navigation system comprises the GNSS signal from a GNSS receiver in the second navigation system.

20. The first navigation system of claim 14, further comprising:

a sensor configured to provide a sensor signal;

wherein the processor is further configured to calibrate the sensor based on the signal from the second navigation system.

21. The first navigation system of claim 14, further comprising:

a sensor configured to provide a sensor signal;

wherein the interface is further configured to send the sensor signal to the second navigation system for calibrating a sensor in the second navigation system.

22. A first navigation system for improving a navigation solution, the first navigation system comprising:

means for commutatively coupling the first navigation system to a second navigation system;

means for receiving, at the first navigation system, 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; and

means for determining the navigation solution at the first navigation system based on the signal from the second navigation system.

23. The first navigation system of claim 22, wherein the first navigation system comprises a vehicle navigation system and the second navigation system comprises a navigation system of a mobile device.

24. The first navigation system of claim 22, wherein the first navigation system comprises a navigation system of a mobile device and the second navigation system comprises a vehicle navigation system.

25. The first navigation system of claim 22, wherein the signal from the second navigation system comprises the sensor signal from the second navigation system.

26. The first navigation system of claim 22, wherein the signal from the second navigation system comprises the GNSS signal from a GNSS receiver in the second navigation system.

27. The first navigation system of claim 22, further comprising means for calibrating a sensor in the first navigation system with the signal from the second navigation system.

28. The first navigation system of claim 22, further comprising means for sending a sensor signal from the first navigation system to calibrate a sensor in the second navigation system.

29. 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:

commutatively couple the first navigation system to a second navigation system;

receive, at the first navigation system, 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; and

determine the navigation solution at the first navigation system based on the signal from the second navigation system.

30. The non-transitory computer-readable storage medium of claim 29, wherein code to determine the navigation solution comprises code to:

receive the sensor signal from a sensor in the first navigation system; and

determine the navigation solution at the first navigation system using both the sensor signal from the first navigation system and the signal from the second navigation system.