公开(公告)号：US20220326015A1

公开(公告)日：2022-10-13

申请号：US17852179

申请日：2022-06-28

Applicant: QUALCOMM Incorporated

Inventor： Vinod Kumar SAINI ,  Abdelmonaem LAKHZOURI ,  Bo ZHENG ,  William MORRISON ,  Vivek SANKARAVADIVEL

IPC: G01C21/16 ,  G01S19/47 ,  G01C21/18

Abstract: Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.

公开(公告)号：US20210207961A1

公开(公告)日：2021-07-08

申请号：US16735356

申请日：2020-01-06

Applicant: QUALCOMM Incorporated

Inventor： Vinod Kumar SAINI ,  Abdelmonaem LAKHZOURI ,  Bo ZHENG ,  William MORRISON ,  Vivek SANKARAVADIVEL

IPC: G01C21/16 ,  G01C21/18 ,  G01S19/47

Abstract: Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.