PRE-PROCESSING INERTIAL SENSOR MEASUREMENTS FOR NAVIGATION
First Claim
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1. A method comprising:
- receiving, at a mobile device, a first series of measurement samples from an accelerometer obtained in a first series of spatial orientations in a measurement reference frame;
receiving a second series of measurement samples from a gyroscope obtained in a second series of spatial orientations in said measurement reference frame, said first series of measurement samples being temporally misaligned with said second series of measurement samples;
interpolating said received second series of measurement samples obtained in said second series of spatial orientations to sampling times of said received first series of measurement samples obtained in said first series of spatial orientations;
generating a third series of measurement samples based, at least in part, on said received second series of measurement samples and said interpolated second series of measurement samples;
integrating said third series of measurement samples to obtain amounts of rotation corresponding to said sampling times of said received first series of measurement samples; and
transforming said first series of measurement samples to said first series of spatial orientations in said measurement reference frame based, at least in part, on said amounts of rotation.
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Abstract
Example methods, apparatuses, or articles of manufacture are disclosed herein that may be utilized, in whole or in part, to facilitate or support one or more operations or techniques for pre-processing inertial sensor measurements for navigation for use in or with a mobile communication device.
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Citations
20 Claims
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1. A method comprising:
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receiving, at a mobile device, a first series of measurement samples from an accelerometer obtained in a first series of spatial orientations in a measurement reference frame; receiving a second series of measurement samples from a gyroscope obtained in a second series of spatial orientations in said measurement reference frame, said first series of measurement samples being temporally misaligned with said second series of measurement samples; interpolating said received second series of measurement samples obtained in said second series of spatial orientations to sampling times of said received first series of measurement samples obtained in said first series of spatial orientations; generating a third series of measurement samples based, at least in part, on said received second series of measurement samples and said interpolated second series of measurement samples; integrating said third series of measurement samples to obtain amounts of rotation corresponding to said sampling times of said received first series of measurement samples; and transforming said first series of measurement samples to said first series of spatial orientations in said measurement reference frame based, at least in part, on said amounts of rotation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. An apparatus comprising:
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a mobile device comprising; an accelerometer; a gyroscope; and one or more processors programmed with instructions to; receive a first series of measurement samples from said accelerometer obtained in a first series of spatial orientations in a measurement reference frame; receive a second series of measurement samples from said gyroscope obtained in a second series of spatial orientations in said measurement reference frame, said first series of measurement samples being temporally misaligned with said second series of measurement samples; interpolate said received second series of measurement samples obtained in said second series of spatial orientations to sampling times of said received first series of measurement samples obtained in said first series of spatial orientations; generate a third series of measurement samples based, at least in part, on said received second series of measurement samples and said interpolated second series of measurement samples; integrate said third series of measurement samples to obtain amounts of rotation corresponding to said sampling times of said received first series of measurement samples; and transform said first series of measurement samples to said first series of spatial orientations in said measurement reference frame based, at least in part, on said amounts of rotation. - View Dependent Claims (18, 19)
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20. An article comprising:
a non-transitory storage medium having instructions stored thereon executable by a special purpose computing platform to; receive, at a mobile device, a first series of measurement samples from an accelerometer obtained in a first series of spatial orientations in a measurement reference frame; receive a second series of measurement samples from a gyroscope obtained in a second series of spatial orientations in said measurement reference frame, said first series of measurement samples being temporally misaligned with said second series of measurement samples; interpolate said received second series of measurement samples obtained in said second series of spatial orientations to sampling times of said received first series of measurement samples obtained in said first series of spatial orientations; generate a third series of measurement samples based, at least in part, on said received second series of measurement samples and said interpolated second series of measurement samples; integrate said third series of measurement samples to obtain amounts of rotation corresponding to said sampling times of said received first series of measurement samples; and transform said first series of measurement samples to said first series of spatial orientations in said measurement reference frame based, at least in part, on said amounts of rotation.
Specification