METHOD AND APPARATUS FOR DETERMINATION OF MISALIGNMENT BETWEEN DEVICE AND VESSEL USING ACCELERATION/DECELERATION
First Claim
1. A method for determining misalignment between a device and a platform using acceleration or deceleration of the platform, wherein the device comprises sensors capable of providing sensor readings, wherein said sensors comprise at least one accelerometer with at least two axes, the method comprising the steps of:
- a) detecting acceleration or deceleration of the platform;
b) obtaining leveled horizontal components of acceleration readings along forward and lateral axes of the device from the accelerometer; and
c) calculating a misalignment angle between the device and the platform using the leveled horizontal components of acceleration readings along the forward and lateral axes of the device when acceleration or deceleration is detected.
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Accused Products
Abstract
The present disclosure relates to a method and apparatus for determining the misalignment between a device and a platform (such as for example a vessel or vehicle) using acceleration and/or deceleration of the platform, wherein the device can be strapped or non-strapped to the platform, wherein in case of non-strapped the mobility of the device may be constrained or unconstrained within the platform. In case of non-strapped, the device may be moved or tilted to any orientation within the platform and still provide a seamless navigation solution without degrading the performance of this navigation solution. When the device is in a holder in the platform, it is still considered non-strapped, as it may move with respect to the platform. The present method can utilize measurements (readings) from sensors (such as for example, accelerometers, odometer/wheel encoders, gyroscopes, etc.) whether in the presence or in the absence of navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).
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Citations
36 Claims
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1. A method for determining misalignment between a device and a platform using acceleration or deceleration of the platform, wherein the device comprises sensors capable of providing sensor readings, wherein said sensors comprise at least one accelerometer with at least two axes, the method comprising the steps of:
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a) detecting acceleration or deceleration of the platform; b) obtaining leveled horizontal components of acceleration readings along forward and lateral axes of the device from the accelerometer; and c) calculating a misalignment angle between the device and the platform using the leveled horizontal components of acceleration readings along the forward and lateral axes of the device when acceleration or deceleration is detected. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A device having constrained or unconstrained mobility within a platform, the device comprising:
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a. sensors capable of providing sensor readings, wherein said sensors comprise at least one accelerometer with at least two axes; and b. at least one processor, coupled to receive readings from the sensors, and operative to determine the misalignment between the device and the platform, wherein the processor is operative to; i) detect acceleration or deceleration of the platform; ii) obtain leveled horizontal components of acceleration readings along forward and lateral axes of the device from the accelerometer; and iii) calculate a misalignment angle between the device and platform using the leveled horizontal components of acceleration readings along the forward and lateral axes of the device when acceleration or deceleration is detected. - View Dependent Claims (35, 36)
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Specification