- 专利标题: Visual inertial odometry attitude drift calibration
-
申请号: US15078862申请日: 2016-03-23
-
公开(公告)号: US10324195B2公开(公告)日: 2019-06-18
- 发明人: Lionel Jacques Garin , Xinzhou Wu , Jubin Jose , Urs Niesen , Venkatesan Nallampatti Ekambaram
- 申请人: QUALCOMM Incorporated
- 申请人地址: US CA San Diego
- 专利权人: QUALCOMM Incorporated
- 当前专利权人: QUALCOMM Incorporated
- 当前专利权人地址: US CA San Diego
- 代理机构: Silicon Valley Patent Group LLP
- 主分类号: G01S19/44
- IPC分类号: G01S19/44 ; G01S19/45 ; G01S19/48 ; G01S19/55 ; G01S19/46 ; G01S19/47
摘要:
Disclosed embodiments pertain to a method on a UE may comprise determining a first absolute position of the UE at a first time based on GNSS measurements from a set of satellites. At a second time subsequent to the first time, the UE may determine a first estimate of displacement of the UE relative to the first absolute position using non-GNSS measurements. Further, at the second time, the UE may also determine a second estimate of displacement relative to the first absolute position and/or a second absolute position of the UE based, in part, on: the GNSS carrier phase measurements at the first time from the set of satellites, and GNSS carrier phase measurements at the second time from a subset comprising two or more satellites of the set of satellites, and the first estimate of displacement of the UE.
公开/授权文献
- US20170031032A1 VISUAL INERTIAL ODOMETRY ATTITUDE DRIFT CALIBRATION 公开/授权日:2017-02-02