公开(公告)号：US20240401954A1

公开(公告)日：2024-12-05

申请号：US18731060

申请日：2024-05-31

Applicant: Apple Inc.

Inventor： Xiaoyuan Tu ,  Alexander Singh Alvarado ,  Jonathan Michel Beard ,  Lucie A. Huet ,  Ozhan Turgut ,  Ryan K. Burns

IPC: G01C21/16

Abstract: Embodiments are disclosed for PDR for different device placements. In some embodiments, a method comprises: obtaining motion data from a motion sensor of a mobile device; determining pedestrian or non-pedestrian class based on the device motion data; determining a placement of the device based on the device motion data; estimating a first direction of travel based on multiple direction of travel sources and the device placement; estimating a first velocity based on the pedestrian or non-pedestrian classification, the first estimate of direction of travel and a first estimate of speed; estimating a second velocity based on a kinematic model and the device motion data; selecting the first estimated velocity or the second estimated velocity based on selection logic; and determining a relative position of the device based on the selected estimated velocity.

公开(公告)号：US20240402279A1

公开(公告)日：2024-12-05

申请号：US18679998

申请日：2024-05-31

Applicant: Apple Inc.

Inventor： Benjamin A. Werner ,  Anup Dhital ,  Alexander Singh Alvarado ,  Brian G. Kilberg ,  Kenneth M. Pesyna, JR. ,  Tunc Ertan ,  Mohamed Youssef ,  Ranjini Narayan ,  Shreya Dilip Date ,  Jonathan M. Beard ,  Lucie A. Huet ,  Xiaoyuan Tu ,  Ryan K. Burns ,  Ozhan Turgut

IPC: G01S5/00 ,  G01S19/51

Abstract: A mobile device may determine a set of range values between the first mobile device and the second mobile device based on a difference between the first time and the second time for ranging wireless signals. The mobile device can determine first odometry information using a first sensor on the first mobile device, the first odometry information indicating a first motion of the first mobile device during a time period. The mobile device can receive, via a data channel, second odometry information determined from second measurements captured using a second sensor on the second mobile device. The mobile device can solve an angle between a first reference frame for the first device and a second reference frame for the second device using the set of range values, and the first and second odometry information to display a directional arrow pointing to a current position of the second mobile device.

公开(公告)号：US20240094000A1

公开(公告)日：2024-03-21

申请号：US18240230

申请日：2023-08-30

Applicant: Apple Inc.

Inventor： Ryan K. Burns ,  Xiaoyuan Tu

IPC: G01C21/12 ,  G01C21/20

CPC classification number: G01C21/12 ,  G01C21/206

Abstract: In some embodiments, a method comprises: receiving acceleration data from a motion sensor of a mobile device carried by a user, the acceleration data represented by a space curve in a three-dimensional (3D) acceleration space, the space curve indicative of a cyclical vertical displacement of the user's center of mass accompanied by a lateral left and right sway of the center of mass when the user is stepping; computing a tangent-normal-binormal (TNB) reference frame from the acceleration data, the TNB reference frame describing instantaneous geometric and kinematic properties of the space curve over time; and computing a direction of travel of the user based on an orientation of a unit binormal (B) vector of the TNB reference frame in the 3D acceleration space, and computing a speed of the user based on a linear regression model applied to the kinematic properties of the TNB reference frame.