Techniques for Determining Movements Based on Sensor Measurements from a Plurality of Mobile Devices Co-Located with a Person

• US 20160007158A1
• Filed: 07/03/2014
• Published: 01/07/2016
• Est. Priority Date: 07/03/2014
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Venkatraman, Sai Pradeep, Gao, Weihua, Werner, Benjamin A.
• Granted Patent: US 9,497,592 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/16 by integrating acceleration or speed, i.e. inertial navigation
• CPC Class Codes: H04M 1/72454 according to context-related or environment-related conditions
• CPC Class Codes: H04M 1/72457 according to geographic location
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
• CPC Class Codes: H04W 4/025 using location based information parameters
• CPC Class Codes: H04W 4/026 using orientation information, e.g. compass
• CPC Class Codes: H04W 4/027 using movement velocity, acceleration information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 52/0212 managed by the network, e.g. network or access point is master and terminal is slave
• CPC Class Codes: Y02D 30/70 in wireless communication networks

Abstract

Example techniques are provided that may be implemented, at least in part, at a mobile device to determine certain parameters corresponding to movement of an object that is co-located with the mobile device and at least one other mobile device. In an example implementation, a mobile device may obtain measurements corresponding to sensors of a plurality of mobile devices co-located on an object, and determine at least one of an estimated speed of the object, an estimated heading of the object, or an estimated heading rate of the object based, at least in part, on all or a selected subset of the sensor measurements which are accepted for use.

Claims

1. A method comprising, at mobile device:

obtaining one or more electrical signals representing first measurements corresponding to at least a first sensor, wherein the first sensor is located in said mobile device, and wherein said first sensor comprises a first accelerometer or a first gyroscope, said mobile device being identified as initially co-located with a first point of an object comprising a person;

transmitting a request to a wearable electronic device for second measurements;

receiving one or more wireless signals from the wearable electronic device representing said second measurements corresponding to at least a second sensor, wherein the second sensor is located in said wearable electronic device, and wherein said second sensor comprises a second accelerometer or a second gyroscope, said wearable electronic device being identified as initially co-located with a second point of said object and being physically separated from said mobile device; and

determining at least one of an estimated speed of said object, an estimated heading of said object, or an estimated heading rate of said object based, at least in part, on an inference of a pedestrian movement of said person based, at least in part, on;

(i) a first periodicity of sensed movement or a first phase of sensed movement from said first measurements;

(ii) a second periodicity of sensed movement or second phase of sensed movement from said second measurements;

or a combination of (i) and (ii).

2. The method as recited in claim 1, and further comprising, with said mobile device:

determining whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on a threshold value.

3. The method as recited in claim 2, and further comprising, with said mobile device:

comparing at said first measurements or said second measurements or said first measurements and said second measurements to said threshold value, or applying a comparison of said first measurements and said second measurements to said threshold value.

4. The method as recited in claim 2, wherein said threshold value is based, at least in part, on an expected motion profile for said pedestrian movement of said person.

5. The method of claim 4, wherein said expected motion profile is defined, at least in part, by said first measurements and said second measurements.

6. The method of claim 4, wherein said expected motion profile is defined, at least in part, by a speed of arm movement in comparison to a speed of leg movement.

7. The method as recited in claim 2, wherein said threshold value is based, at least in part, on at least one of a first transient motion profile for said first point of said object, or a second transient motion profile for said second point of said object.

8. The method as recited in claim 1, and further comprising:

selecting said second measurements to measure a particular characteristic; and

powering off said first sensor in response to said selecting said second measurements to measure said particular characteristic.

9. The method as recited in claim 1, and further comprising:

obtaining a comparison of said first measurements or said second measurements or both said first measurements and said second measurements to a range of motion profile; and

determining whether said comparison is consistent with the range of motion profile.

10. The method of claim 1, and further comprising:

inferring that said object is performing an activity comprising movement in place based, at least in part, on at least one of said first measurements and said second measurements; and

determining said estimated speed, said estimated heading or said estimated heading rate based on information other than said first measurements and said second measurements in response to said inference that said object is performing said activity comprising movement in place.

11. The method as recited in claim 1, and further comprising, with said mobile device:

determining whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on a comparison of at least said first measurements and said second measurements.

12. The method as recited in claim 1, and further comprising, with said mobile device:

in response to a determination that said first measurements and said second measurements are accepted for use, determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on said first measurements and said second measurements.

13. The method as recited in claim 1, and further comprising, with said mobile device:

in response to a determination that one but not both of said first measurements or said second measurements is accepted for use, determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on said one of said first measurements or said second measurements that is accepted for use.

14. The method as recited in claim 1, and further comprising, with said mobile device:

determining at least one of a first gravity vector from said first measurements, or a second gravity vector from said second measurements; and

at least one of;

determining whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on at least one of said first gravity vector, or said second gravity vector;

or

determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on at least one of said first gravity vector or said second gravity vector.

15. The method as recited in claim 1, and further comprising, with said mobile device:

determining at least one of a mobile device orientation from said first measurements, or a wearable electronic device orientation from said second measurements; and

,

at least one of;

determining whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on at least one of said mobile device orientation, or said wearable electronic device orientation;

or

determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on at least one of said mobile device orientation, or said wearable electronic device orientation.

16. The method as recited in claim 1, and further comprising, with said mobile device:

determining a navigation trajectory for said object based, at least in part, on at least one of said estimated speed of said object, said estimated heading rate of said object, or said estimated heading rate of said object.

17. An apparatus for use in a mobile device, the apparatus comprising:

means for obtaining one or more electrical signals representing first measurements corresponding to at least a first sensor, wherein the first sensor is located in said mobile device, said first sensor comprising a first accelerometer or a first gyroscope, said mobile device being identified as initially co-located with a first point of an object comprising a person;

means for transmitting a request to a wearable electronic device for second measurements;

means for receiving one or more wireless signals from a wearable electronic device representing second measurements corresponding to at least a second sensor, wherein the second sensor is located in said wearable electronic device, and wherein said second sensor comprises a second accelerometer or a second gyroscope, said wearable electronic device being identified as initially co-located with a second point of said object and being physically separated from said mobile device; and

means for determining at least one of an estimated speed of said object, an estimated heading of said object, or an estimated heading rate of said object based, at least in part, on an inference of a pedestrian movement of said person based, at least in part, on;

(i) a first periodicity of sensed movement or a first phase of sensed movement from said first measurements;

(ii) a second periodicity of sensed movement or second phase of sensed movement from said second measurements;

or a combination of (i) and (ii).

18. The apparatus as recited in claim 17, and further comprising:

means for determining whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on a threshold value.

19. The apparatus as recited in claim 18, and further comprising:

means for comparing at least one of said first measurements or said second measurements to said threshold value, or applying a comparison of said first measurements and said second measurements to said threshold value.

20. The apparatus as recited in claim 18, wherein said threshold value is based, at least in part, on an expected motion profile for said pedestrian movement of said person.

21. The apparatus as recited in claim 18, wherein said threshold value is based, at least in part, on at least one of a first transient motion profile for said first point of said object, or a second transient motion profile for said second point of said object.

22. The apparatus as recited in claim 17, and further comprising:

means for determining whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on a comparison of at least said first measurements and said second measurements.

23. The apparatus as recited in claim 17, and further comprising:

means for determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on said first measurements and said second measurements, in response to a determination that said first measurements and said second measurements are accepted for use.

24. The apparatus as recited in claim 17, and further comprising:

in response to a determination that one but not both of said first measurements or said second measurements is accepted for use, means for determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on said one of said first measurements or said second measurements that is accepted for use.

25. The apparatus as recited in claim 17, and further comprising:

means for determining at least one of a first gravity vector from said first measurements, or a second gravity vector from said second measurements; and

at least one of;

means for determining whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on at least one of said first gravity vector, or said second gravity vector;

or

means for determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on at least one of said first gravity vector or said second gravity vector.

26. The apparatus as recited in claim 17, and further comprising:

means for determining at least one of a mobile device orientation from said first measurements, or a wearable electronic device orientation from said second measurements; and

,

at least one of;

means for determining whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on at least one of said mobile device orientation, or said wearable electronic device orientation;

or

means for determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on at least one of said mobile device orientation, or said wearable electronic device orientation.

27. A mobile device comprising:

a first sensor comprising a first accelerometer or a first gyroscope;

a transmitter;

a receiver; and

a processing unit to;

obtain one or more electrical signals representing first measurements corresponding to at least said first sensor of said mobile device, said mobile device being identified as initially co-located with a first point of an object comprising a person;

initiate transmission, via said transmitter, a request to a wearable electronic device for second measurements;

receive, via said receiver, one or more wireless signals from a wearable electronic device representing second measurements corresponding to at least a second sensor, wherein the second sensor is located in said wearable electronic device, said second sensor comprising a second accelerometer or a second gyroscope, said wearable electronic device being identified as initially co-located with a second point of said object and being physically separated from said mobile device; and

determine at least one of an estimated speed of said object, an estimated heading of said object, or an estimated heading rate of said object based, at least in part, on an inference of a pedestrian movement of said person based, at least in part, on;

(i) a first periodicity of sensed movement or a first phase of sensed movement from said first measurements;

(ii) a second periodicity of sensed movement or second phase of sensed movement from said second measurements;

or a combination of (i) and (ii).

28. The mobile device as recited in claim 27, said processing unit to further:

determine whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on a threshold value.

29. The mobile device as recited in claim 28, said processing unit to further:

compare at least one of said first measurements or said second measurements to said threshold value, or apply a comparison of said first measurements and said second measurements to said threshold value.

30. The mobile device as recited in claim 28, wherein said threshold value is based, at least in part, on an expected motion profile for said pedestrian movement of said person.

31. The mobile device as recited in claim 28, wherein said threshold value is based, at least in part, on at least one of a first transient motion profile for said first point of said object, or a second transient motion profile for said second point of said object.

32. The mobile device as recited in claim 27, said processing unit to further:

determine whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on a comparison of at least said first measurements and said second measurements.

33. The mobile device as recited in claim 27, said processing unit to further:

in response to a determination that said first measurements and said second measurements are accepted for use, determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on said first measurements and said second measurements.

34. The mobile device as recited in claim 27, said processing unit to further:

in response to a determination that one but not both of said first measurements or said second measurements is accepted for use, determining at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on said one of said first measurements or said second measurements that is accepted for use.

35. The mobile device as recited in claim 27, said processing unit to further:

determine at least one of a first gravity vector from said first measurements, or a second gravity vector from said second measurements; and

at least one of;

determine whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on at least one of said first gravity vector, or said second gravity vector;

or

determine at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on at least one of said first gravity vector or said second gravity vector.

36. The mobile device as recited in claim 27, said processing unit to further:

determine at least one of a mobile device orientation from said first measurements, or a wearable electronic device orientation from said second measurements; and

,

at least one of;

determine whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on at least one of said mobile device orientation, or said wearable electronic device orientation;

or

determine at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on at least one of said mobile device orientation, or said wearable electronic device orientation.

37. A non-transitory computer readable medium having stored therein computer implementable instructions executable by a processing unit of a mobile device, comprising:

code to obtain one or more electrical signals representing first measurements corresponding to at least a first sensor of said mobile device, said first sensor comprising a first accelerometer or a first gyroscope, said mobile device being identified as initially co-located with a first point of an object comprising a person;

code to initiate transmission of a request to a wearable electronic device for second measurements;

code to obtain one or more wireless signals from a wearable electronic device representing second measurements corresponding to at least a second sensor, wherein the second sensor is located in said wearable electronic device, said second sensor comprising a second accelerometer or a second gyroscope, said wearable electronic device being identified as initially co-located with a second point of said object and being physically separated from said mobile device; and

from a wearable electronic device determine at least one of an estimated speed of said object, an estimated heading of said object, or an estimated heading rate of said object based, at least in part, on an inference of a pedestrian movement of said person based, at least in part, on;

(i) a first periodicity of sensed movement or a first phase of sensed movement from said first measurements;

(ii) a second periodicity of sensed movement or second phase of sensed movement from said second measurements;

or a combination of (i) and (ii).

38. The computer readable medium as recited in claim 37, said computer implementable instructions being further executable by said processing unit of said mobile device to:

determine whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on a threshold value.

39. The computer readable medium as recited in claim 38, said computer implementable instructions being further executable by said processing unit of said mobile device to:

compare at least one of said first measurements or said second measurements to said threshold value, or apply a comparison of said first measurements and said second measurements to said threshold value.

40. The computer readable medium as recited in claim 38, wherein said threshold value is based, at least in part, on an expected motion profile for said pedestrian movement of said person.

41. The computer readable medium as recited in claim 38, wherein said threshold value is based, at least in part, on at least one of a first transient motion profile for said first point of said object, or a second transient motion profile for said second point of said object.

42. The computer readable medium as recited in claim 37, said computer implementable instructions being further executable by said processing unit of said mobile device to:

determine whether at least one of said first measurements or said second measurements is accepted for use based, at least in part, on a comparison of at least said first measurements and said second measurements.

43. The computer readable medium as recited in claim 37, said computer implementable instructions being further executable by said processing unit of said mobile device to:

in response to a determination that said first measurements and said second measurements are accepted for use, determine at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on said first measurements and said second measurements.

44. The computer readable medium as recited in claim 37, said computer implementable instructions being further executable by said processing unit of said mobile device to:

in response to a determination that one but not both of said first measurements or said second measurements is accepted for use, determine at least one of said estimated speed of said object, said estimated heading of said object, or said estimated heading rate of said object based, at least in part, on said one of said first measurements or said second measurements that is accepted for use.

45. A method comprising, at a mobile device:

obtaining a first indication of battery life, wherein the first indication of battery life is from a first battery, wherein the first battery is located in said mobile device;

obtaining a second indication of battery life, wherein the second indication of battery life is from a second battery, and wherein the second battery is located in a wearable electronic device that is detached from said mobile device; and

requesting either first measurements from a first sensor, said first sensor being located in said mobile device, or second measurements from a second sensor, said second sensor being located in said wearable electronic device, for use based, at least in part, on said first indication of battery life and said second indication of battery life.

46. The method as recited in claim 45, and further comprising, with said mobile device:

transmitting one or more instructions to said wearable electronic device to turn off the second sensor, based, at least in part, on said second indication of battery life.

47. The method as recited in claim 45, and further comprising, with said mobile device:

determining that the second indication of battery life is sufficient, based at least in part on the second indication of battery life exceeding a battery life threshold.

48. The method as recited in claim 45, and further comprising, with said mobile device:

obtaining a first indication of remaining operating time, wherein the first indication of remaining operating time is for said mobile device; and

obtaining a second indication of remaining operating time, wherein the second indication of remaining operating time is for said wearable electronic device,

wherein requesting either said first measurements or said second measurements for use further comprises requesting either said first measurements or said second measurements based, at least in part, on said first indication of remaining operating time and said second indication of remaining operating time.

49. A mobile device comprising:

a first sensor;

a first battery;

a wireless receiver; and

a processing unit to;

obtain a first indication of battery life of said first battery;

obtain, via said wireless receiver, a second indication of battery life, wherein the second indication of battery life is from a second battery, and wherein the second battery is located in a wearable electronic device that is detached from said mobile device; and

request either first measurements from said first sensor or second measurements from a second sensor, said second sensor being located in said wearable electronic device based, at least in part, on said first indication of battery life and said second indication of battery life.

50. The mobile device of claim 49, wherein said first sensor comprises at least a first accelerometer or a first gyroscope.

51. A computer readable medium comprising a non-transitory computer readable medium having stored therein computer implementable instructions executable by a processing unit of a mobile device, comprising:

code to obtain a first indication of battery life, wherein the first indication of battery life is from a first battery, wherein the first battery is located in said mobile device;

code to obtain a second indication of battery life, wherein the second indication of battery life is from a second battery, and wherein the second battery is located in a wearable electronic device that is detached from said mobile device; and

code to request either first measurements from a first sensor, said first sensor being located in said mobile device, or second measurements from a second sensor, said second sensor being located in said wearable electronic device, for use based, at least in part, on said first indication of battery life and said second indication of battery life.

52. An apparatus for use in a mobile device, the apparatus comprising:

means for obtaining a first indication of battery life, wherein the first indication of battery life is from a first battery, wherein the first battery is located in said mobile device;

means for obtaining a second indication of battery life, wherein the second indication of battery life is from a second battery, and wherein the second battery is located in a wearable electronic device that is detached from said mobile device; and

means for requesting either first measurements from a first sensor, said first sensor being located in said mobile device, or second measurements from a second sensor, said second sensor being located in said wearable electronic device, for use based, at least in part, on said first indication of battery life and said second indication of battery life.