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1.发明申请METHOD, SYSTEM AND APPARATUS FOR VEHICULAR NAVIGATION USING INERTIAL SENSORS 有权使用惯性传感器进行车辆导航的方法，系统和装置公开(公告)号：US20150088419A1
公开(公告)日：2015-03-26
申请号：US14034486
申请日：2013-09-23
Applicant: Texas Instruments Incorporated
Inventor： Sachin Bhardwaj , Sriram Murali , Jaiganesh Balakrishnan , Jayawardan Janardhanan , Yogesh Shekar , Goutam Dutta
CPC classification number: G01C21/165 , G01C21/16 , G01C21/20
Abstract: According to an aspect of the present disclosure, the relative attitude between an inertial measurement unit (IMU), present on a mobile device, and the frame of reference of the vehicle carrying mobile device is estimated. The estimated relative attitude is used to translate the IMU measurement to the vehicle frame of reference to determine the velocity and position of the vehicle. As a result, the vehicle position and velocity are determined accurately in the event of undocking and re-docking of the mobile device from a docking system in the vehicle. The relative attitude is estimated in terms of pitch, roll, and yaw angles.
Abstract translation: 根据本公开的一个方面，估计出现在移动设备上的惯性测量单元（IMU）与携带移动设备的车辆的参考系之间的相对姿态。 估计的相对姿态用于将IMU测量值转换为车辆参考系，以确定车辆的速度和位置。 结果，在移动设备从车辆中的对接系统脱离和重新对接的情况下，准确地确定车辆位置和速度。 根据俯仰角，俯仰角和偏航角估计相对姿态。
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2.发明授权Undocking and re-docking mobile device inertial measurement unit from vehicle 有权移动设备惯性测量单元从车辆拆卸和重新对接公开(公告)号：US09383209B2
公开(公告)日：2016-07-05
申请号：US14034486
申请日：2013-09-23
Applicant: Texas Instruments Incorporated
Inventor： Sachin Bhardwaj , Sriram Murali , Jaiganesh Balakrishnan , Jayawardan Janardhanan , Yogesh Shekar , Goutam Dutta
CPC classification number: G01C21/165 , G01C21/16 , G01C21/20
Abstract: According to an aspect of the present disclosure, the relative attitude between an inertial measurement unit (IMU), present on a mobile device, and the frame of reference of the vehicle carrying mobile device is estimated. The estimated relative attitude is used to translate the IMU measurement to the vehicle frame of reference to determine the velocity and position of the vehicle. As a result, the vehicle position and velocity are determined accurately in the event of undocking and re-docking of the mobile device from a docking system in the vehicle. The relative attitude is estimated in terms of pitch, roll, and yaw angles.
Abstract translation: 根据本公开的一个方面，估计出现在移动设备上的惯性测量单元（IMU）与携带移动设备的车辆的参考系之间的相对姿态。 估计的相对姿态用于将IMU测量值转换为车辆参考系，以确定车辆的速度和位置。 结果，在移动设备从车辆中的对接系统脱离和重新对接的情况下，准确地确定车辆位置和速度。 根据俯仰角，俯仰角和偏航角估计相对姿态。
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