Use of inertial sensor data to improve mobile station positioning
First Claim
1. A mobile station comprising:
- an inertial sensor, wherein the inertial sensor provides inertia measurements;
inertia measurement processor coupled to the inertial sensor to accept the inertia measurements and to determine an uncertainty based on the inertia measurements; and
navigation position filter coupled to the inertia measurement processor to receive the uncertainty and to determine a position estimate based on the uncertainty, wherein the navigation position filter comprises;
a first position filter model to compute a first position estimate base on the uncertainty,a second position filter model to compute a second position estimate based on the uncertainty; and
a switch coupled to the first position filter and the second position filer and configured to select between the first position estimate and the second position estimate.
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Accused Products
Abstract
An implementation of a system and method for using inertial sensor data to improve mobile station positioning is provided. Many mobile devices include an inertial sensor. These inertia measurements typically produce low resolution inertial measurements, which may be used to generate an uncertainty value and/or to select a positioning filter model. In some examples, this uncertainty value is used as a process noise input signal into a Kalman filter or similar filter. In some examples, one position estimate is selected from multiple navigation position filter models operating concurrently, each computing a separate position estimate. In these examples, a position estimate is selected based on either the uncertainty value or based on another characteristic of the inertia measurements.
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Citations
33 Claims
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1. A mobile station comprising:
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an inertial sensor, wherein the inertial sensor provides inertia measurements; inertia measurement processor coupled to the inertial sensor to accept the inertia measurements and to determine an uncertainty based on the inertia measurements; and navigation position filter coupled to the inertia measurement processor to receive the uncertainty and to determine a position estimate based on the uncertainty, wherein the navigation position filter comprises; a first position filter model to compute a first position estimate base on the uncertainty, a second position filter model to compute a second position estimate based on the uncertainty; and a switch coupled to the first position filter and the second position filer and configured to select between the first position estimate and the second position estimate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method to produce a position of a mobile station, the method comprising:
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measuring inertia using an inertial sensor to provide inertia measurements; determining an uncertainty based on the inertia measurements; computing a first position estimate base on the uncertainty using a first position filter model and computing a second position estimate based on the uncertainty using a second position filter model; and switching to select the position estimate from between; the first position estimate from the first position filter model; and the second position estimate from the second position filter model. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A mobile station comprising:
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means for measuring inertia using an inertial sensor to provide inertia measurements; means for determining an uncertainty based on the inertia measurements; means for computing a first position estimate base on the uncertainty using a first position filter model; means for computing a second position estimate based on the uncertainty using a second position filter model; and means for switching to select the position estimate from between; the first position estimate from the first position filter model; and the second position estimate from the second position filter model.
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30. A mobile station comprising a processor and memory wherein the memory includes software instructions to:
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measure inertia using an inertial sensor to provide inertia measurements; determine an uncertainty based on the inertia measurements; and compute a first position estimate base on the uncertainty using a first position filter model and compute a second position estimate based on the uncertainty using a second position filter model; and switch to select the position estimate form between; the first position estimate from the first position filter model; and the second position estimate from the second position filter model.
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31. A computer-readable medium including program code stored thereon, comprising program code to:
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measure inertia using an inertial sensor to provide inertia measurements; determine an uncertainty based on the inertia measurements; compute a first position estimate base on the uncertainty using a first position filter model and compute a second position estimate based on the uncertainty using a second position filter model; and switch to select the position estimate from between; the first position estimate from the first position filter model; and the second position estimate from the second position filter model.
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32. A mobile station comprising:
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an inertial sensor, wherein the inertial sensor provides inertia measurements; inertia measurement processor coupled to the inertial sensor to accept the inertia measurements and to determine an uncertainty based on the inertia measurements; and navigation position filter coupled to the inertia measurement processor to receive the uncertainty and to determine a position estimate based on the uncertainty, wherein the navigation position filter comprises; a first position filter model to compute a first position estimate base on the uncertainty; a second position filter model to compute a second position estimate base on the uncertainty; and a switch comprising a first input port for the first position estimate, a second input port for the second position estimate, a control input port coupled to a characteristic of the inertia measurements, and an output port selectable by the control input port. - View Dependent Claims (33)
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Specification