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PRE-PROCESSING INERTIAL SENSOR MEASUREMENTS FOR NAVIGATION

  • US 20140288873A1
  • Filed: 01/03/2014
  • Published: 09/25/2014
  • Est. Priority Date: 03/22/2013
  • Status: Abandoned Application
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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