VELOCITY BIAS COMPENSATION FOR SWIMMER POSITION TRACKING
First Claim
1. A mobile device comprising:
- a memory; and
a processor communicatively coupled to the memory and configured to;
obtain a first estimated body velocity;
determine a compensated velocity by adjusting the first estimated body velocity to account for a device-to-body motion of the mobile device relative to a body;
determine an estimated Doppler value using the compensated velocity and a satellite velocity; and
determine a second estimated body velocity based on the estimated Doppler value and a measured Doppler value.
1 Assignment
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Accused Products
Abstract
Techniques are provided for determining a moving body'"'"'s position and velocity in the presence of motion of a measuring device relative to the body. For example, a swimmer'"'"'s position and velocity may be determined by compensating for bias that may result from a swimmer'"'"'s arm swing. This may help avoid over-estimating a swimmer'"'"'s velocity that results in inaccurate position estimation along the swimmer'"'"'s path. To compensate for the swimmer'"'"'s arm swing, an estimate of translational velocity due to arm rotation may be removed, e.g., from pseudo-range rates (PRRs) from satellite positioning system measurements, to reduce the systematic bias errors. A scale factor is applied to an estimated velocity of the swimmer'"'"'s body to estimate the velocity of a mobile device on the swimmer'"'"'s wrist, e.g., while above water.
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30 Claims
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1. A mobile device comprising:
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a memory; and a processor communicatively coupled to the memory and configured to; obtain a first estimated body velocity; determine a compensated velocity by adjusting the first estimated body velocity to account for a device-to-body motion of the mobile device relative to a body; determine an estimated Doppler value using the compensated velocity and a satellite velocity; and determine a second estimated body velocity based on the estimated Doppler value and a measured Doppler value. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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obtaining a first estimated body velocity; determining a compensated velocity by adjusting the first estimated body velocity to account for a device-to-body motion of a mobile device relative to a body; determining an estimated Doppler value using the compensated velocity and a satellite velocity; and determining a second estimated body velocity based on the estimated Doppler value and a measured Doppler value. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory, processor-readable storage medium comprising processor-readable instructions configured to instruct a processor to:
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obtain a first estimated body velocity; determine a compensated velocity by adjusting the first estimated body velocity to account for a device-to-body motion of a mobile device relative to a body; determine an estimated Doppler value using the compensated velocity and a satellite velocity; and determine a second estimated body velocity based on the estimated Doppler value and a measured Doppler value. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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24. A mobile device comprising:
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means for obtaining a first estimated body velocity; means for determining a compensated velocity by adjusting the first estimated body velocity to account for a device-to-body motion of the mobile device relative to a body; means for determining an estimated Doppler value using the compensated velocity and a satellite velocity; and means for determining a second estimated body velocity based on the estimated Doppler value and a measured Doppler value. - View Dependent Claims (25, 26, 27, 28, 29, 30)
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Specification