公开(公告)号：US08578773B1

公开(公告)日：2013-11-12

申请号：US13627296

申请日：2012-09-26

Applicant: Google Inc.

Inventor： Chao Feng ,  Hongji Bao ,  Yaoting Liu

IPC: G01P15/00

CPC classification number: G01C21/14 ,  G01C21/206 ,  G01C22/006

Abstract: A device and method of determining a travel direction of a mobile device carried by a user are disclosed. The method includes determining a line along which the mobile device is traveling, where the determining may be based on sensed acceleration of the mobile device. A walking style of the user traveling with the mobile device may be determined. The sensed acceleration may be resolved into at least two mutually perpendicular components. A first component may be substantially parallel with gravity, and a second component may be orthogonal to the first component. The travel direction of the mobile device along the travel line may be determined based on a user's walking style and the resolved sensed acceleration. The determining of the line may include applying a linear least square fitting method to a plurality of acceleration readings obtained from at least one inertial navigation sensor.

Abstract translation: 公开了一种确定用户携带的移动设备的行进方向的装置和方法。 该方法包括确定移动设备正在行进的线，其中确定可以基于感测到的移动设备的加速度。 可以确定用移动设备行进的用户的行走风格。 感测到的加速度可以被分解成至少两个相互垂直的分量。 第一部件可以与重力基本平行，并且第二部件可以与第一部件正交。 可以根据用户的行走风格和分辨的感测加速度来确定移动设备沿行驶线的行进方向。 线的确定可以包括对从至少一个惯性导航传感器获得的多个加速度读数应用线性最小二乘拟合方法。