Use of inertial sensor data to improve mobile station positioning

• US 9,052,202 B2
• Filed: 06/10/2010
• Issued: 06/09/2015
• Est. Priority Date: 06/10/2010
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Riley, Wyatt Thomas
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): GREENE, DANIEL LAWSON
• Application Number:
  US12/813,340
• Publication Number:
  US 20110307173A1
• Time in Patent Office: 1,825 Days
• Field of Search: 701/220, 701/22, 701/472, 701/473, 701/466, 701/408
• US Class Current: 1/1
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments

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.

Claims

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.

2. The mobile station of claim 1, wherein the inertial sensor comprises an accelerometer.

3. The mobile station of claim 1, wherein the inertial sensor comprises an accelerometer having a maximum of 2 bits of resolution per axis.

4. The mobile station of claim 1, wherein the navigation position filter further comprises a quantizer coupled to the inertia measurement processor to receive the uncertainty and coupled to the switch, wherein the quantizer quantizes the uncertainty into a maximum of four values.

5. The mobile station of claim 1, wherein the switch is controlled by a signal based on the uncertainty.

6. The mobile station of claim 1, wherein the switch is controlled by a signal based on the inertia measurements.

7. The mobile station of claim 1, wherein the first position filter model comprises a zero-velocity model.

8. The mobile station of claim 1, wherein the first position filter model comprises a position-velocity (PV) filter.

9. The mobile station of claim 1, wherein the first position filter model comprises a Kalman filter having constant curvature.

10. The mobile station of claim 1, wherein the first position filter model comprises a Kalman filter having constant velocity.

11. The mobile station of claim 1, wherein the inertial sensor comprises a gyrometer.

12. The mobile station of claim 11, wherein the inertial sensor further comprises an accelerometer.

13. The mobile station of claim 1, wherein the inertia measurement processor determines the uncertainty based on a variance of the inertia measurements.

14. The mobile station of claim 13, wherein the variance comprises a multi-channel variance.

15. The mobile station of claim 13, wherein the variance comprises a range between a maximum value of the inertia measurements and a minimum value of the inertia measurements.

16. A method to produce a position of a mobile station, the method comprising:

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.

17. The method of claim 16 wherein the inertia measurements comprise measurements from an accelerometer.

18. The method of claim 16, wherein the inertia measurements comprise measurements from a gyrometer.

19. The method of claim 16, wherein the inertia measurements comprise measurements from an accelerometer having a maximum of 2 bits of resolution per axis.

20. The method of claim 16, wherein the act of determining the uncertainty based on the inertia measurements comprises computing a variance of the inertia measurements.

21. The method of claim 16, wherein the variance comprises a multi-channel variance.

22. The method of claim 16, wherein the variance comprises a range between a maximum value of the inertia measurements and a minimum value of the inertia measurements.

23. The method of claim 16, further comprising quantizing the uncertainty into a maximum of four values.

24. The method of claim 16, wherein the act of switching comprises controlling an output of a switch based on the uncertainty.

25. The method of claim 16, wherein the first position filter model comprises a Kalman filter having constant curvature.

26. The method of claim 16, wherein the first position filter model comprises a Kalman filter having constant velocity.

27. The method of claim 24, wherein the first position filter model comprises a zero-velocity model.

28. The method of claim 24, wherein the first position filter model comprises a position-velocity (PV) filter.

29. A mobile station comprising:

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.

30. A mobile station comprising a processor and memory wherein the memory includes software instructions to:

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.

31. A computer-readable medium including program code stored thereon, comprising program code to:

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.

32. 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 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.

33. The mobile station of claim 32, wherein the characteristic of the inertia measurements comprises the uncertainty.