公开(公告)号：US11754726B2

公开(公告)日：2023-09-12

申请号：US16927337

申请日：2020-07-13

Applicant: QUALCOMM Incorporated

Inventor： Vinod Kumar Saini ,  Abdelmonaem Lakhzouri ,  Bo Zheng ,  William Morrison

IPC: G01S19/47 ,  G01S19/39 ,  G01S19/42 ,  G01S19/52

CPC classification number: G01S19/47 ,  G01S19/393 ,  G01S19/428 ,  G01S19/52

Abstract: A mobile device in a moving vehicle initializes a Global Navigation Satellite System (GNSS)-Inertial Navigation System (INS) system while the vehicle is in-motion with the orientation of the mobile device with respect to a global reference frame. The mobile device uses gyroscope measurements made while the vehicle is turning to determine a gravity vector. The gravity vector and accelerometer measurements may be used to determine a forward vector for the mobile device. A north vector is determined using the GNSS measurements. After the GNSS-INS system is calibrated, the mobile device may be positioned with respect to the vehicle. The orientation of the mobile device, prior to repositioning, may be compared to a current orientation, determined while the vehicle is in motion, in order to determine whether the GNSS-INS system should be re-initialized.