公开(公告)号：US20220326015A1

公开(公告)日：2022-10-13

申请号：US17852179

申请日：2022-06-28

Applicant: QUALCOMM Incorporated

Inventor： Vinod Kumar SAINI ,  Abdelmonaem LAKHZOURI ,  Bo ZHENG ,  William MORRISON ,  Vivek SANKARAVADIVEL

IPC: G01C21/16 ,  G01S19/47 ,  G01C21/18

Abstract: Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.

公开(公告)号：US20210207961A1

公开(公告)日：2021-07-08

申请号：US16735356

申请日：2020-01-06

Applicant: QUALCOMM Incorporated

Inventor： Vinod Kumar SAINI ,  Abdelmonaem LAKHZOURI ,  Bo ZHENG ,  William MORRISON ,  Vivek SANKARAVADIVEL

IPC: G01C21/16 ,  G01C21/18 ,  G01S19/47

Abstract: Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.

公开(公告)号：US20240053170A1

公开(公告)日：2024-02-15

申请号：US18330424

申请日：2023-06-07

Applicant: QUALCOMM Incorporated

Inventor： Gautam NIRULA ,  Himanshu SHAH ,  William MORRISON ,  Hsiao Chien LIANG

IPC: G01C21/00 ,  G01C21/34

CPC classification number: G01C21/3874 ,  G01C21/3461

Abstract: In an aspect, a user device or a server may obtain a global navigation satellite system (GNSS) position of the user device, a sensor-based trajectory of the user device, or both. The user device or the server may filter map data indicating possible routes of the user device based on one or more criteria associated with the GNSS position, the sensor-based trajectory, or both to obtain filtered map data. The user device or the server may determine a position estimate for the user device based on the filtered map data.

公开(公告)号：US20230384412A1

公开(公告)日：2023-11-30

申请号：US17804809

申请日：2022-05-31

Applicant: QUALCOMM Incorporated

Inventor： William MORRISON ,  Songwon JEE

IPC: G01S5/02 ,  G06K9/62 ,  H04W64/00

CPC classification number: G01S5/0284 ,  G06K9/6227 ,  G06K9/6282 ,  H04W64/006

Abstract: Aspects presented herein may improve the performance and accuracy of GNSS-based positioning, where a position-grid based ML may be implemented by a UE or a location server to improve the accuracy of identifying a warm-start position of the UE. In one aspect, a UE or a location server determines, for each grid point within a range of an initial position of a UE, a set of PR residuals based on PRs for each SV of a set of SVs. The UE or the location server determines an estimated position of the UE based on the sets of determined PR residuals.

公开(公告)号：US20230382565A1

公开(公告)日：2023-11-30

申请号：US17804849

申请日：2022-05-31

Applicant: QUALCOMM Incorporated

Inventor： Songwon JEE ,  Yunxiang LIU ,  William MORRISON

IPC: B64G1/28 ,  B64G1/24

CPC classification number: B64G1/28 ,  B64G1/244 ,  B64G2001/245

Abstract: Aspects presented herein may enable a positioning device or entity to perform PR measurement error detection and classification based on SV geometry via ML. In one aspect, a UE or a location server determines for each SV of a set of SVs at least a geometric orientation with respect to the UE. The UE or the location server determines, based on an ML classifier and the determined geometric orientation with respect to the UE for each SV of at least a subset of the set of SVs, a relative PR weight for each SV of the set of SVs. The UE or the location server estimates a position of the UE based on PR measurements of each SV of the set of SVs and the relative PR weight for each SV of the set of SVs.

公开(公告)号：US20210314734A1

公开(公告)日：2021-10-07

申请号：US16841726

申请日：2020-04-07

Applicant: QUALCOMM Incorporated

Inventor： Chandrakant MEHTA ,  Gautam NIRULA ,  William MORRISON ,  Grant MARSHALL ,  Guttorm OPSHAUG

IPC: H04W4/029 ,  G01S5/02 ,  G01P13/00 ,  G01R33/02

Abstract: A UE includes: at least one sensor configured to provide at least one sensor measurement; and a processor configured to: determine first and second ranges between the UE and a positioning signal source based on first and second positioning signal measurements of first and second positioning signals from the positioning signal source corresponding to first and second times; determine whether a selected range of the first range or the second range is a multipath range based on the first range, the second range, and movement of the UE between the first time and the second time indicated by the at least one sensor measurement; and discount use of the selected range in a positioning technique in response to the selected range being determined to be a multipath range.