Determining vehicle orientation for enhanced navigation experience

• US 10,670,735 B2
• Filed: 09/11/2017
• Issued: 06/02/2020
• Est. Priority Date: 09/11/2017
• Status: Active Grant

• Current Assignee: Apple Inc.
• Original Assignee: Apple Inc.
• Inventors: Tu, Xiaoyuan, Alvarado, Alexander Singh, Howell, Adam, Kandangath, Anil
• Primary Examiner(s): Cass, Jean Paul
• Application Number:
  US15/700,400
• Publication Number:
  US 20190079199A1
• Time in Patent Office: 995 Days
• Field of Search: 701469
• CPC Class Codes: G01C 21/08 involving use of the magnetic field of the earth
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/367 Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 19/52 Determining velocity
• CPC Class Codes: H04W 4/023 using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

Abstract

A system and method for improving the accuracy of a user device when generating map/navigation information for display to a user, comprising: obtaining compass heading from a magnetometer of the user device located within a vehicle; adjusting the compass heading based on a mount angle of the user device within the vehicle; obtaining location data from a location sensor of the user device; determining if a course of the vehicle can be reliably determined from the location data; if the course of the vehicle cannot be reliably determined from the location data, determining the orientation of the vehicle using the compass heading but not the course; if the course of the vehicle can be reliably determined from the location data, calculating a course of the vehicle based on the location data and determining the orientation of the vehicle using the course; generating, by a processor, first map/navigation information using the orientation of the vehicle; and displaying, by a processor, the first map/navigation information to the user.

Claims

1. A method for improving the accuracy of a user device when generating map/navigation information for display to a user, the method comprising:

obtaining a compass heading from a magnetometer of the user device located within a vehicle;

adding or subtracting a mount angle of the user device within the vehicle to the compass heading, thereby producing a corrected compass heading;

obtaining location data from a location sensor of the user device;

determining that a course of the vehicle cannot be reliably determined from the location data;

in response to the determining that the course of the vehicle cannot be reliably determined from the location data, determining the orientation of the vehicle using the corrected compass heading but not the course;

generating, by a processor, first map/navigation information using the orientation of the vehicle; and

displaying, by a processor, the first map/navigation information to the user.

2. The method of claim 1 wherein determining that the course of the vehicle cannot be reliably determined from the location data comprises:

determining a speed of the vehicle using motion data from the user device; and

comparing the speed of the vehicle to a predetermined speed threshold.

3. The method of claim 1 wherein determining that the course of the vehicle cannot be reliably determined from the location data comprises:

determining a course accuracy associated with the location sensor; and

comparing the course accuracy to a predetermined course accuracy threshold.

4. The method of claim 1 further comprising:

calculating an updated mount angle of the user device within the vehicle based on the compass heading and the course; and

adding or subtracting the updated mount angle of the user device within the vehicle to the compass heading, thereby producing an updated corrected compass heading.

5. The method of claim 1 further comprising:

determining an accuracy of the compass heading;

determining that the accuracy of the compass heading is below a predetermined compass accuracy threshold; and

in response to the determining that the accuracy of the compass heading is below the predetermined compass accuracy threshold;

obtaining angular rate data from a gyroscope of the user device; and

updating the orientation of the vehicle using the angular rate data.

6. The method of claim 1 wherein generating the first map/navigation information comprises generating a graphical representation of the vehicle'"'"'s heading.

7. The method of claim 1 wherein generating the first map/navigation information comprises generating turn-by-turn navigation instructions.

8. The method of claim 1 further comprising:

detecting the user device was removed from the vehicle;

determining the location of the vehicle using the location data;

recording the orientation and the location of the vehicle to a memory of the user device in response to detecting the user device was removed from the vehicle;

detecting the user device is mounted within the vehicle; and

using the recorded orientation and location of the vehicle to generate and display second map/navigation information subsequent to detecting the user device is mounted within a vehicle.

9. The method of claim 8 wherein detecting the user device is mounted within the vehicle comprises detecting the user is driving the vehicle.

10. The method of claim 9 wherein detecting the user is driving the vehicle comprises:

determining a speed of the vehicle using motion or location data from the user device; and

determining an arm position of the user based on motion data from a wearable device configured to be worn on an arm of the user.

11. The method of claim 10 wherein the user device and the wearable device are different devices.

12. The method of claim 10 wherein detecting the user is driving the vehicle further comprises determining if the user device is connected to a wireless network of the vehicle.

13. The method of claim 9 further comprising disabling user functionality of the user device in response to detecting the user device is situated within a moving vehicle.

19. The method of claim 1 further comprising:

determining that the course of the vehicle can now be reliably determined from the location data;

in response to the determining that the course of the vehicle can now be reliably determined from the location data, calculating the course of the vehicle based on the location data and determining the orientation of the vehicle using the course.

21. The method of claim 19 wherein determining the orientation of the vehicle using the course comprises using the course to provide corrections to an Extended Kalman Filter (EKF) used to estimate heading over time.

14. A user device with improved accuracy when generating map/navigation information for display to a user, the user device comprising:

a magnetometer configured to generate a compass heading of the user device;

a location sensor configured to generate location data of the user device;

a processor circuit in communication with the magnetometer and the location sensor and configured to execute instructions causing the processor circuit to;

add or subtract a mount angle of the user device within the vehicle to the compass heading, thereby producing a corrected compass heading;

determine that a course of the vehicle cannot be reliably determined from the location data;

in response to the determining that the course of the vehicle cannot be reliably determined from the location data, determine the orientation of the vehicle using the corrected compass heading but not the course;

generate first map/navigation information using the orientation of the vehicle; and

display the first map/navigation information to the user.

15. The user device of claim 14 wherein the instructions cause the processor circuit to determine that the course of the vehicle cannot be reliably determined from the location data by:

determining a speed of the vehicle using motion data from the user device; and

comparing the speed of the vehicle to a predetermined speed threshold.

16. The user device of claim 14 wherein the instructions cause the processor circuit to determine that the course of the vehicle cannot be reliably determined from the location data by:

determining a course accuracy associated with the location sensor; and

comparing the course accuracy to a predetermined course accuracy threshold.

17. The user device of claim 14 wherein the instructions cause the processor circuit to:

calculate an updated mount angle of the user device within the vehicle based on the compass heading and the course; and

add or subtract the updated mount angle of the user device within the vehicle to the compass heading, thereby producing an updated corrected compass heading.

18. The user device of claim 14 wherein the instructions cause the processor circuit to:

determine an accuracy of the compass heading;

determine that the accuracy of the compass heading is below a predetermined compass accuracy threshold; and

in response to the determining that the accuracy of the compass heading is below the predetermined compass accuracy threshold;

obtain angular rate data from a gyroscope of the user device; and

update the orientation of the vehicle using the angular rate data.

20. The user device of claim 14 wherein the instructions cause the processor circuit to:

determine that the course of the vehicle can now be reliably determined from the location data;

in response to the determining that the course of the vehicle can now be reliably determined from the location data, calculate the course of the vehicle based on the location data and determine the orientation of the vehicle using the course.

22. The user device of claim 20 wherein the instructions cause the processor circuit to determine the orientation of the vehicle using the course by using the course to provide corrections to an Extended Kalman Filter (EKF) used to estimate heading over time.