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.