Determination of position, velocity, and/or heading by simultaneous use of on-device and on-vehicle information

Patent metadata

Field	Value
Publication number	US-2022390236-A1
Application number	US-202217819895-A
Country	US
Kind code	A1
Filing date	Aug 15, 2022
Priority date	Dec 6, 2012
Publication date	Dec 8, 2022
Grant date	—

Abstract

Systems, apparatus and methods to supplement, combine, replace, verify and calibrate in-vehicle and in-device sensors and GNSS systems are presented. A mobile device and a vehicle navigation system share sensor and GNSS information to arrive at an improved navigation solution. For example, a navigation solution computed by a vehicle may rely on a sensor signal from a mobile device. Similarly, a navigation solution computed by a mobile device may use a sensor signal or a GNSS signal from a vehicle.

First claim

What is claimed is:

1 . An apparatus for wireless communication at a first navigation system, comprising:
a memory; and at least one processor coupled to the memory and, based at least in part on information stored in the memory, the at least one processor is configured to:
communicatively couple the first navigation system to a second navigation system;
receive a global navigation satellite system (GNSS) signal from the first navigation system;
receive a first signal from the second navigation system, wherein the first signal comprises a first set of measurements from a speedometer, a turn-rate value, an odometer or any combination thereof, wherein the first signal does not comprise a location of the second navigation system; and
determine a navigation solution at the first navigation system based on the first signal from the second navigation system and the GNSS signal from the first navigation system.

2 . The apparatus of claim 1 , further comprising a transceiver, wherein, to receive the GNSS signal from the first navigation system, the at least one processor is configured to receive, via the transceiver, the GNSS signal from a GNSS unit at the first navigation system.

3 . The apparatus of claim 1 , wherein the at least one processor is further configured to:
integrate the first signal from the second navigation system with the GNSS signal from the first navigation system into a stream of signals comprising the first signal and the GNSS signal, wherein, to determine the navigation solution at the first navigation system, the at least one processor is configured to determine the navigation solution using the stream of signals.

4 . The apparatus of claim 3 , wherein, to integrate the first signal from the second navigation system with the GNSS signal from the first navigation system into the stream of signals comprising the first signal and the GNSS signal, the at least one processor is configured to use a Kalman filter to integrate the first signal from the second navigation system with the GNSS signal from the first navigation system into the stream of signals comprising the first signal and the GNSS signal.

5 . The apparatus of claim 1 , wherein the first navigation system comprises a vehicle navigation system, wherein the second navigation system comprises a mobile device navigation system.

6 . The apparatus of claim 1 , wherein the first navigation system comprises a mobile device navigation system, wherein the second navigation system comprises a vehicle navigation system.

7 . The apparatus of claim 1 , wherein the at least one processor is further configured to:
calibrate a sensor at the first navigation system with the first signal from the second navigation system.

8 . The apparatus of claim 1 , wherein the at least one processor is further configured to:
transmit a second signal comprising a second set of measurements from a second speedometer, a second turn-rate value, a second odometer, or any combination thereof, to calibrate a sensor at the second navigation system.

9 . The apparatus of claim 1 , wherein the navigation solution comprises at least one of a position, a velocity, or a heading of the first navigation system.

10 . The apparatus of claim 1 , wherein the navigation solution comprises at least one of a position, a velocity, or a heading of the first navigation system.

11 . A method to generate a navigation solution, the method comprising:
communicatively coupling a first navigation system to a second navigation system; receiving, at the first navigation system, a global navigation satellite system (GNSS) signal from the first navigation system; receiving, at the first navigation system, a first signal from the second navigation system, wherein the first signal comprises a set of measurements from a speedometer, a turn-rate value, an odometer or any combination thereof, wherein the first signal does not comprise a location of the second navigation system; and determining the navigation solution at the first navigation system based on the first signal from the second navigation system and the GNSS signal from the first navigation system.

12 . The method of claim 11 , wherein receiving the GNSS signal from the first navigation system comprises receiving the GNSS signal from a GNSS unit at the first navigation system.

13 . The method of claim 11 , further comprising integrating the first signal from the second navigation system with the GNSS signal from the first navigation system into a stream of signals comprising the first signal and the GNSS signal, wherein determining the navigation solution at the first navigation system comprises determining the navigation solution using the stream of signals.

14 . The method of claim 13 , wherein integrating the first signal from the second navigation system with the GNSS signal from the first navigation system into the stream of signals comprising the first signal and the GNSS signal comprises using a Kalman filter to integrate the first signal from the second navigation system with the GNSS signal from the first navigation system into the stream of signals comprising the first signal and the GNSS signal.

15 . The method of claim 11 , wherein the first navigation system comprises a vehicle navigation system, wherein the second navigation system comprises a mobile device navigation system.

16 . The method of claim 11 , wherein the first navigation system comprises a mobile device navigation system, wherein the second navigation system comprises a vehicle navigation system.

17 . The method of claim 11 , further comprising calibrating a sensor at the first navigation system with the first signal from the second navigation system.

18 . The method of claim 11 , further comprising transmitting a second signal comprising a second set of measurements from a second speedometer, a second turn-rate value, a second odometer, or any combination thereof, to calibrate a sensor at the second navigation system.

19 . The method of claim 11 , wherein the navigation solution comprises at least one of a position, a velocity, or a heading of the first navigation system.

20 . The method of claim 11 , further comprising determining that at least one of the first navigation system and the second navigation system is in a mounted state.

21 . An apparatus for wireless communication, comprising:
means for communicatively coupling a first navigation system to a second navigation system; means for receiving, at the first navigation system, a global navigation satellite system (GNSS) signal from the first navigation system; means for receiving, at the first navigation system, a first signal from the second navigation system, wherein the first signal comprises a set of measurements from a speedometer, a turn-rate value, an odometer or any combination thereof, wherein the first signal does not comprise a location of the second navigation system; and means for determining a navigation solution at the first navigation system based on the first signal from the second navigation system and the GNSS signal from the first navigation system.

22 . The apparatus of claim 21 , further comprising a transceiver, wherein the means for receiving the GNSS signal from the first navigation system comprises means for receiving, via the transceiver, the GNSS signal from a GNSS unit at the first navigation system.

23 . The apparatus of claim 21 , further comprising means for integrating

Assignees

• Qualcomm Inc

Inventors

• Riley Wyatt Thomas

Classifications

• G01C21/28

  with correlation of data from several navigational instruments · CPC title

• G01S5/0072

  Transmission between mobile stations, e.g. anti-collision systems · CPC title

• G01C25/005

  initial alignment, calibration or starting-up of inertial devices · CPC title

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• G01C21/005 Primary

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title