公开(公告)号：US09816818B2

公开(公告)日：2017-11-14

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： G01C21/16 ,  G01C25/00 ,  G01C21/26

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.