CRADLE ROTATION INSENSITIVE INERTIAL NAVIGATION
First Claim
1. An apparatus for determining alignment changes between a first body frame and a second body frame, comprising:
- a memory unit;
one or more inertial sensors;
at least one processor communicatively coupled to the memory unit and the one or more inertial sensors and configured to;
obtain one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame, wherein the one or more images include an image of a fixed object associated with the second body frame;
determine a compensation information based on an analysis of the one or more images; and
determine a position based on the one or more inertial sensors and the compensation information.
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Accused Products
Abstract
Techniques are provided which may be implemented using various methods and/or apparatuses in a mobile device to provide cradle insensitive inertial navigation. An example method for determining alignment changes between a first body frame and a second body frame according to the disclosure includes obtaining one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame, determining a compensation information based on an analysis of the one or more images, and determining a position based on one or more inertial sensors and the compensation information.
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Citations
30 Claims
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1. An apparatus for determining alignment changes between a first body frame and a second body frame, comprising:
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a memory unit; one or more inertial sensors; at least one processor communicatively coupled to the memory unit and the one or more inertial sensors and configured to; obtain one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame, wherein the one or more images include an image of a fixed object associated with the second body frame; determine a compensation information based on an analysis of the one or more images; and determine a position based on the one or more inertial sensors and the compensation information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for determining alignment changes between a first body frame and a second body frame, comprising:
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obtaining one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame, wherein the one or more images include an image of a fixed object associated with the second body frame; determining a compensation information based on an analysis of the one or more images; and determining a position based on one or more inertial sensors and the compensation information. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory machine-readable medium comprising instructions for determining alignment changes between a first body frame and a second body frame, the instructions comprising:
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code for obtaining one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame wherein the one or more images include an image of a fixed object associated with the second body frame; code for determining a compensation information based on an analysis of the one or more images; and code for determining a position based on one or more inertial sensors and the compensation information. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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25. An apparatus for determining alignment changes between a first body frame and a second body frame, comprising:
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means for obtaining one or more images from an image capture device associated with the first body frame in response to detecting a change in alignment between the first body frame and the second body frame, wherein the one or more images include an image of a fixed object associated with the second body frame; means for determining a compensation information based on an analysis of the one or more images; and means for determining a position based on one or more inertial sensors and the compensation information. - View Dependent Claims (26, 27, 28, 29, 30)
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Specification