Orient a mobile device coordinate system to a vehicular coordinate system

• US 10,168,156 B2
• Filed: 03/23/2017
• Issued: 01/01/2019
• Est. Priority Date: 03/23/2017
• Status: Active Grant

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Bryant, Reginald E., Crawford, Catherine H., Hwang, Inseok, Walcott, Aisha
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US15/467,428
• Publication Number:
  US 20180274928A1
• Time in Patent Office: 649 Days
• CPC Class Codes: G01C 21/185 for gravity
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G07C 5/085 using electronic data carriers

Abstract

An approach is provided by a mobile information handling system that includes a processor, and a gyroscope, a gravity sensor, and a memory each accessible by the processor. The approach identifies, at the mobile device that is moving with a vehicle, when a rotation of the gyroscope is at a near-zero moment, and an acceleration, wherein the acceleration is detected as being on a plane that is near-perpendicular with a gravity sensed by the gravity sensor. Then the detection is made, the approach determines a direction of the vehicle as being parallel to a direction of the detected acceleration. The approach then aligns a coordinate system used in the mobile device based on the determined direction of the vehicle.

Claims

1. A method implemented by a mobile device that includes a processor, a gyroscope, a gravity sensor, and a memory each accessible by the processor, the method comprising:

identifying, at the mobile device that is moving with a vehicle, when a rotation of the gyroscope is at a near-zero moment;

computing, by the mobile device, a primary eigenvector based on a set of computed acceleration values of the vehicle;

detecting, at the mobile device, an acceleration as being on a plane that is near-perpendicular with a gravity sensed by the gravity sensor;

determining a direction of the vehicle based on the primary eigenvector as being parallel to a direction of the detected acceleration; and

aligning a coordinate system used in the mobile device with a different coordinate system of the vehicle based on the determined direction of the vehicle.

2. The method of claim 1 wherein the acceleration is a deceleration, wherein the direction of the vehicle is determined to be parallel to a negative direction of the detected acceleration.

3. The method of claim 1 wherein the acceleration is detected from an acceleration observation at the mobile device that is selected from the group consisting of a detection by an accelerometer that an accelerometer fluctuation is increasing, a detection that an engine noise level is increasing, a detection that a speed detected at a global positioning system accessible by the mobile device is increasing, and a detection of a speed increase detected by receiving a set of vehicle speed data from an on-board diagnostic (OBD) included in the vehicle.

4. The method of claim 1 further comprising:

repeatedly receive sensors values from the gyroscope and one or more acceleration based sensors;

in response to the rotation of the gyroscope being at the near-zero state, and the acceleration being on the plane that is near-perpendicular with the gravity, queuing an acceleration value into a buffer at the mobile device; and

computing the primary eigenvector based on the acceleration values queued in the buffer.

5. The method of claim 4 further comprising:

inhibiting the queuing of the acceleration value into the buffer in response to determining that the acceleration is on a non-perpendicular plane to gravity.

6. The method of claim 4 further comprising:

inhibiting the queuing of the acceleration value into the buffer in response to determining that the gyroscope detected a moment that is not near-rotation free.

7. An information handling system included in a mobile device, the information handling system comprising:

one or more processors;

a gyroscope accessible by at least one of the processors;

a gravity sensor that is accessible by at least one of the processors;

a memory coupled to at least one of the processors; and

a set of computer program instructions stored in the memory and executed by at least one of the processors in order to perform actions comprising;

identifying, at the mobile device that is moving with a vehicle, when a rotation of the gyroscope is at a near-zero moment;

computing, by the mobile device, a primary eigenvector based on a set of computed acceleration values of the vehicle;

detecting, at the mobile device, an acceleration as being on a plane that is near-perpendicular with a gravity sensed by the gravity sensor;

determining a direction of the vehicle based on the primary eigenvector as being parallel to a direction of the detected acceleration; and

aligning a coordinate system used in the mobile device with a different coordinate system of the vehicle based on the determined direction of the vehicle.

8. The information handling system of claim 7 wherein the acceleration is a deceleration, wherein the direction of the vehicle is determined to be parallel to a negative direction of the detected acceleration.

9. The information handling system of claim 7 wherein the acceleration is detected from an acceleration observation at the mobile device that is selected from the group consisting of a detection by an accelerometer that an accelerometer fluctuation is increasing, a detection that an engine noise level is increasing, a detection that a speed detected at a global positioning system accessible by the mobile device is increasing, and a detection of a speed increase detected by receiving a set of vehicle speed data from an on-board diagnostic (OBD) included in the vehicle.

10. The information handling system of claim 7 wherein the actions further comprise:

repeatedly receive sensors values from the gyroscope and one or more acceleration based sensors;

in response to the rotation of the gyroscope being at the near-zero state, and the acceleration being on the plane that is near-perpendicular with the gravity, queuing an acceleration value into a buffer at the mobile device; and

computing the primary eigenvector based on the acceleration values queued in the buffer.

11. The information handling system of claim 10 wherein the actions further comprise:

inhibiting the queuing of the acceleration value into the buffer in response to determining that the acceleration is on a non-perpendicular plane to gravity; and

inhibiting the queuing of the acceleration value into the buffer in response to determining that the gyroscope detected a moment that is not near-rotation free.

12. The information handling system of claim 7 wherein the gravity sensor is an accelerometer included in the information handling system and accessible by at least one of the processors.

13. A computer program product stored in a computer readable storage medium, comprising computer program code that, when executed by a mobile device that includes a processor, a gyroscope and a gravity sensor, performs actions comprising:

identifying, at the mobile device that is moving with a vehicle, when a rotation of the gyroscope is at a near-zero moment;

computing, by the mobile device, a primary eigenvector based on a set of computed acceleration values of the vehicle;

detecting, at the mobile device, an acceleration as being on a plane that is near-perpendicular with a gravity sensed by the gravity sensor;

determining a direction of the vehicle based on the primary eigenvector as being parallel to a direction of the detected acceleration; and

aligning a coordinate system used in the mobile device with a different coordinate system of the vehicle based on the determined direction of the vehicle.

14. The computer program product of claim 13 wherein the acceleration is a deceleration, wherein the direction of the vehicle is determined to be parallel to a negative direction of the detected acceleration.

15. The computer program product of claim 13 wherein the acceleration is detected from an acceleration observation at the mobile device that is selected from the group consisting of a detection by an accelerometer that an accelerometer fluctuation is increasing, a detection that an engine noise level is increasing, a detection that a speed detected at a global positioning system accessible by the mobile device is increasing, and a detection of a speed increase detected by receiving a set of vehicle speed data from an on-board diagnostic (OBD) included in the vehicle.

16. The computer program product of claim 13 wherein the actions further comprise:

repeatedly receive sensors values from the gyroscope and one or more acceleration based sensors;

in response to the rotation of the gyroscope being at the near-zero state, and the acceleration being on the plane that is near-perpendicular with the gravity, queuing an acceleration value into a buffer at the mobile device; and

computing the primary eigenvector based on the acceleration values queued in the buffer.

17. The computer program product of claim 16 wherein the actions further comprise:

inhibiting the queuing of the acceleration value into the buffer in response to determining that the acceleration is on a non-perpendicular plane to gravity; and

inhibiting the queuing of the acceleration value into the buffer in response to determining that the gyroscope detected a moment that is not near-rotation free.