公开(公告)号：US09429590B2

公开(公告)日：2016-08-30

申请号：US13191967

申请日：2011-07-27

申请人： Joseph Czompo

发明人： Joseph Czompo

IPC分类号： G01P21/00

CPC分类号： G01P21/00

摘要： Methods and apparatus for accelerometer autocalibration in a mobile device are provided. In an example, a signal is received from the accelerometer. A substantially constant state of the signal, such as that caused by a freefall of the accelerometer, is detected. When the signal remains in the substantially constant state for at least a predetermined period of time, the signal's noise level is measured. A compensating signal based upon the measured noise level is determined and can be output to the accelerometer, thus compensating the accelerometer to mitigate the noise level. In examples, the compensating signal can be a reference voltage, a reference frequency, and/or a reference pulse train. In a further example, the compensating is performed only when the noise level of the signal is within a range for at least the predetermined period of time.

摘要翻译： 提供了一种移动设备中用于加速度计自动校准的方法和装置。 在一个示例中，从加速度计接收信号。 检测到信号的基本上恒定的状态，例如由加速度计的自由落体引起的状态。 当信号保持在基本上恒定的状态至少预定的时间段时，测量信号的噪声电平。 基于测量的噪声电平的补偿信号被确定并且可以输出到加速度计，从而补偿加速度计以减轻噪声水平。 在示例中，补偿信号可以是参考电压，参考频率和/或参考脉冲串。 在另一示例中，仅当信号的噪声电平处于至少预定时间段的范围内时才执行补偿。

公开(公告)号：US09151613B2

公开(公告)日：2015-10-06

申请号：US13209240

申请日：2011-08-12

申请人： Joseph Czompo ,  Jong Bin D. Lee

发明人： Joseph Czompo ,  Jong Bin D. Lee

IPC分类号： G01C21/16 ,  G01C21/00

CPC分类号： G01C21/00 ,  G01C21/16 ,  G01C21/165

摘要： Methods and apparatus for detecting, measuring, and/or mitigating effects of moving an inertial navigation device's cradle are provided. In an example, provided are methods and apparatus to mitigate cradle rotation-induced inertial navigation errors. In an example, a method for mitigating an inertial navigation error includes receiving inertial sensor data and processing the inertial sensor data with a first navigation algorithm having a non-holonomic constraint (NHC). A second navigation algorithm, lacking a NHC, also processes the inertial sensor data simultaneously with the first algorithm. A cradle rotation is detected by the second navigation algorithm. A first navigation algorithm result, produced from the inertial sensor data generated during the cradle rotation, is discarded. The first algorithm can be computationally realigned, based on a second navigation algorithm result produced from the inertial sensor data generated during the cradle rotation.

摘要翻译： 提供了用于检测，测量和/或减轻移动惯性导航装置的支架的影响的方法和装置。 在一个示例中，提供了减轻托架旋转引起的惯性导航误差的方法和装置。 在一个示例中，用于减轻惯性导航误差的方法包括接收惯性传感器数据并且利用具有非完整约束（NHC）的第一导航算法处理惯性传感器数据。 缺少NHC的第二导航算法也与第一种算法同时处理惯性传感器数据。 通过第二导航算法检测支架旋转。 由托架旋转期间产生的惯性传感器数据产生的第一导航算法结果被丢弃。 基于由托架旋转期间产生的惯性传感器数据产生的第二导航算法结果，第一算法可以被计算地重新对准。

公开(公告)号：US09074897B2

公开(公告)日：2015-07-07

申请号：US12484913

申请日：2009-06-15

申请人： Victor Kulik ,  Joseph Czompo

发明人： Victor Kulik ,  Joseph Czompo

IPC分类号： G01C21/00 ,  G01C21/16 ,  G01S19/47 ,  G01S19/49

CPC分类号： G01C21/165 ,  G01S19/47 ,  G01S19/49

摘要： The subject matter disclosed herein relates to determining and/or predicting a navigation solution.

摘要翻译： 本文公开的主题涉及确定和/或预测导航解决方案。

公开(公告)号：US08271235B2

公开(公告)日：2012-09-18

申请号：US12750109

申请日：2010-03-30

申请人： Joseph Czompo

发明人： Joseph Czompo

IPC分类号： G06F15/00 ,  G06F9/00

CPC分类号： H03M1/1265 ,  H03M1/1225

摘要： An apparatus and method for efficient and concurrent sampling of a sensor signal to create multiple output signals each at different sampling rates is provided. The apparatus and method determine an aperiodic sampling rate or sampling schedule such that only samples representing samples at the different sampling rates are taken. The aperiodic samples are taken then de-interleaved to filter wanted samples for a particular application or user. As a result, the aperiodic samples is just a combination of all of the subsets to each application. Such aperiodic sampling reduces a total number of samples taken and, as a direct result, reduces the number of samples needing to be processed and stored and also reduced the power otherwise consumed to sample, process and store unused samples.

摘要翻译： 提供了一种用于有效和并发地采样传感器信号以便以不同采样率产生多个输出信号的装置和方法。 该装置和方法确定非周期采样率或采样调度，使得仅采用表示不同采样率的采样的采样。 取非周期样本，然后进行去交织，以过滤特定应用或用户的所需样品。 因此，非周期性样本只是每个应用程序的所有子集的组合。 这种非周期性采样减少了所采集的样本总数，并且直接结果是减少了需要处理和存储的样本数量，并且还降低了样本，处理和存储未使用样本所需的功率。

公开(公告)号：US20120173142A1

公开(公告)日：2012-07-05

申请号：US13309520

申请日：2011-12-01

申请人： Joseph CZOMPO ,  Guttorm Ringstad OPSHAUG ,  Kumar Gaurav CHHOKRA ,  Zoltan Fenene BIACS ,  Wyatt T. RILEY

发明人： Joseph CZOMPO ,  Guttorm Ringstad OPSHAUG ,  Kumar Gaurav CHHOKRA ,  Zoltan Fenene BIACS ,  Wyatt T. RILEY

IPC分类号： G01C21/10

CPC分类号： G01C21/165 ,  G01C21/26 ,  G01C25/005

摘要： An apparatus and method for providing an improved heading estimate of a mobile device in a vehicle is presented. First, the mobile device determines if it is mounted in a cradle attached to the vehicle; if so, inertia sensor data may be valid. While in a mounted stated, the mobile device determines whether it has been rotated in the cradle; if so, inertia sensor data may no longer be reliable and a recalibration to determine a new relative orientation between the vehicle and the mobile device is needed. If the mobile device is mounted and not recently rotated, heading data from multiple sensors (e.g., GPS, gyroscope, accelerometer) may be computed and combined to form the improved heading estimate. This improved heading estimate may be used to form an improved velocity estimate. The improved heading estimate may also be used to compute a bias to correct a gyroscope.

摘要翻译： 提出了一种用于提供车辆中移动设备的改进的航向估计的装置和方法。 首先，移动设备确定其是否安装在连接到车辆的支架上; 如果是这样，惯性传感器数据可能是有效的。 在安装状态下，移动设备确定是否已经在摇篮中旋转; 如果是这样，惯性传感器数据可能不再可靠，并且需要重新校准以确定车辆和移动设备之间的新的相对定向。 如果移动设备被安装并且最近没有旋转，则可以计算并组合来自多个传感器（例如，GPS，陀螺仪，加速度计）的航向数据以形成改进的航向估计。 该改进的航向估计可用于形成改进的速度估计。 改进的航向估计也可用于计算偏差以校正陀螺仪。

公开(公告)号：US20120022780A1

公开(公告)日：2012-01-26

申请号：US12841953

申请日：2010-07-22

申请人： Victor Kulik ,  Joseph Czompo

发明人： Victor Kulik ,  Joseph Czompo

IPC分类号： G01C21/00

CPC分类号： G01C25/00 ,  G01C21/28 ,  G01C22/025

摘要： Apparatus and methods for calibrating dynamic parameters of a vehicle navigation system are presented. One method may include determining whether reference position data of a vehicle is available, and measuring composite accelerations of the vehicle. The method may further include generating distance and turn angle data based upon a wheel speed sensors data, computing distance and turn angle errors based upon the independent position data, and associating the distance and turn angle errors with composite accelerations. A second method presented includes calibrating an inertial navigation sensor within a vehicle navigation system. The second method may include determining reference position data and Inertial Navigation System (INS) data, aligning an IMU with the vehicle, and aligning the IMU with an Earth fixed coordinate system. The second method may further include computing the vehicle alignment with respect to a horizontal plane, and determining calibration parameters for distance sensors associated with the vehicle.

摘要翻译： 提出了一种用于校准车辆导航系统的动态参数的装置和方法。 一种方法可以包括确定车辆的参考位置数据是否可用，以及测量车辆的复合加速度。 该方法还可以包括基于基于独立位置数据的车轮速度传感器数据，计算距离和转角误差以及将距离和转角误差与复合加速度相关联来产生距离和转角数据。 所提出的第二种方法包括校准车辆导航系统内的惯性导航传感器。 第二种方法可以包括确定参考位置数据和惯性导航系统（INS）数据，将IMU与车辆对准，以及将IMU与地面固定坐标系对准。 第二种方法还可以包括计算相对于水平面的车辆对准，以及确定与车辆相关联的距离传感器的校准参数。

公开(公告)号：US10054444B2

公开(公告)日：2018-08-21

申请号：US12475262

申请日：2009-05-29

申请人： Joseph Czompo ,  Ara Bicakci

发明人： Joseph Czompo ,  Ara Bicakci

IPC分类号： G01C21/16 ,  G01C25/00

CPC分类号： G01C21/16 ,  G01C25/005

摘要： The subject matter disclosed herein relates to a system and method for receiving a plurality of signals generated by a plurality of sensors adapted to detect physical movement of a mobile device with respect to a plurality of coordinate axes. A time at which at least one of the received signals is digitized is delayed to provide an output of digitized versions of the received plurality of signals synchronized with respect to a common point in time.

公开(公告)号：US08843290B2

公开(公告)日：2014-09-23

申请号：US12841953

申请日：2010-07-22

申请人： Victor Kulik ,  Joseph Czompo

发明人： Victor Kulik ,  Joseph Czompo

IPC分类号： B60T7/12 ,  G08G1/123 ,  G01S19/00 ,  G01C25/00 ,  G01C22/02 ,  G01C21/28

CPC分类号： G01C25/00 ,  G01C21/28 ,  G01C22/025

摘要： Apparatus and methods for calibrating dynamic parameters of a vehicle navigation system are presented. One method may include determining whether reference position data of a vehicle is available, and measuring composite accelerations of the vehicle. The method may further include generating distance and turn angle data based upon a wheel speed sensors data, computing distance and turn angle errors based upon the independent position data, and associating the distance and turn angle errors with composite accelerations. A second method presented includes calibrating an inertial navigation sensor within a vehicle navigation system. The second method may include determining reference position data and Inertial Navigation System (INS) data, aligning an IMU with the vehicle, and aligning the IMU with an Earth fixed coordinate system. The second method may further include computing the vehicle alignment with respect to a horizontal plane, and determining calibration parameters for distance sensors associated with the vehicle.

摘要翻译： 提出了一种用于校准车辆导航系统动态参数的装置和方法。 一种方法可以包括确定车辆的参考位置数据是否可用，以及测量车辆的复合加速度。 该方法还可以包括基于基于独立位置数据的车轮速度传感器数据，计算距离和转角误差以及将距离和转角误差与复合加速度相关联来产生距离和转角数据。 所提出的第二种方法包括校准车辆导航系统内的惯性导航传感器。 第二种方法可以包括确定参考位置数据和惯性导航系统（INS）数据，将IMU与车辆对准，以及将IMU与地面固定坐标系对准。 第二种方法还可以包括计算相对于水平面的车辆对准，以及确定与车辆相关联的距离传感器的校准参数。

公开(公告)号：US08692689B2

公开(公告)日：2014-04-08

申请号：US13106786

申请日：2011-05-12

申请人： Joseph Czompo

发明人： Joseph Czompo

IPC分类号： G08G1/01 ,  H04M3/42

CPC分类号： H04W4/046

摘要： Methods and apparatus for determining context of a mobile device are provided. In an example, provided is a method for identifying an environment of a mobile device. The method includes receiving a motion sensor signal. The motion sensor signal can be received from an accelerometer and/or a gyroscope. If a frequency characteristic of an engine is detected in the motion sensor signal, a control signal is output identifying that the mobile device is located in a motor vehicle. The control signal can enable a vehicle navigation mode. The control signal can also be used to alert a user to the identified environment and/or change a feature of the mobile device. The method can also include receiving an audio signal from a microphone, detecting the engine vibration from the audio signal, and using the audio signal to confirm the detecting the engine vibration from the motion sensor signal.

摘要翻译： 提供了用于确定移动设备的上下文的方法和装置。 在一个示例中，提供了用于识别移动设备的环境的方法。 该方法包括接收运动传感器信号。 运动传感器信号可以从加速度计和/或陀螺仪接收。 如果在运动传感器信号中检测到发动机的频率特性，则输出识别移动装置位于机动车辆中的控制信号。 控制信号可以实现车辆导航模式。 控制信号还可以用于向用户警告所识别的环境和/或改变移动设备的特征。 该方法还可以包括从麦克风接收音频信号，从音频信号中检测发动机振动，以及使用音频信号确认从运动传感器信号检测发动机振动。

公开(公告)号：US20130025345A1

公开(公告)日：2013-01-31

申请号：US13191967

申请日：2011-07-27

申请人： Joseph Czompo

发明人： Joseph Czompo

IPC分类号： G01P21/00

CPC分类号： G01P21/00

摘要： Methods and apparatus for accelerometer autocalibration in a mobile device are provided. In an example, a signal is received from the accelerometer. A substantially constant state of the signal, such as that caused by a freefall of the accelerometer, is detected. When the signal remains in the substantially constant state for at least a predetermined period of time, the signal's noise level is measured. A compensating signal based upon the measured noise level is determined and can be output to the accelerometer, thus compensating the accelerometer to mitigate the noise level. In examples, the compensating signal can be a reference voltage, a reference frequency, and/or a reference pulse train. In a further example, the compensating is performed only when the noise level of the signal is within a range for at least the predetermined period of time.

摘要翻译： 提供了一种移动设备中用于加速度计自动校准的方法和装置。 在一个示例中，从加速度计接收信号。 检测到信号的基本上恒定的状态，例如由加速度计的自由落体引起的状态。 当信号保持在基本上恒定的状态至少预定的时间段时，测量信号的噪声电平。 基于测量的噪声电平的补偿信号被确定并且可以输出到加速度计，从而补偿加速度计以减轻噪声水平。 在示例中，补偿信号可以是参考电压，参考频率和/或参考脉冲串。 在另一示例中，仅当信号的噪声电平处于至少预定时间段的范围内时才执行补偿。