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公开(公告)号：US11809639B2
公开(公告)日：2023-11-07
申请号：US17489190
申请日：2021-09-29
Applicant: QUALCOMM Incorporated
Inventor： William Morrison , Hsiao Chien Liang , Gautam Nirula , Himanshu Shah
IPC: G06F3/0346 , G01C25/00 , G06F3/038
CPC classification number: G06F3/0346 , G01C25/005 , G06F3/038
Abstract: Aspects presented herein may enable an electronic device to determine gyroscope biases and calibrate a gyroscope without a magnetometer or without relying on data generated from a magnetometer. In one aspect, an apparatus estimates a set of gyroscopic biases for a plurality of temperatures or temperature ranges to create a mapping that maps the plurality of temperatures or temperature ranges to the set of gyroscopic biases. The apparatus monitors temperatures of a gyroscope via a gyroscope temperature sensor. The apparatus calibrates the gyroscope in response to the gyroscope changing from a first temperature to a second temperature based on the mapping or based on a predicted value derived from the mapping. In some aspects, the apparatus calculates a DR trajectory of the apparatus based at least in part on the calibrated gyroscope and the accelerometer without using a magnetometer or without using data generated from the magnetometer.
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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
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.
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公开(公告)号：US11284218B2
公开(公告)日：2022-03-22
申请号：US16841726
申请日：2020-04-07
Applicant: QUALCOMM Incorporated
Inventor： Chandrakant Mehta , Gautam Nirula , William Morrison , Grant Marshall , Guttorm Ringstad Opshaug
Abstract: A UE includes: at least one sensor configured to provide at least one sensor measurement; and a processor configured to: determine first and second ranges between the UE and a positioning signal source based on first and second positioning signal measurements of first and second positioning signals from the positioning signal source corresponding to first and second times; determine whether a selected range of the first range or the second range is a multipath range based on the first range, the second range, and movement of the UE between the first time and the second time indicated by the at least one sensor measurement; and discount use of the selected range in a positioning technique in response to the selected range being determined to be a multipath range.
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公开(公告)号：US10323942B2
公开(公告)日：2019-06-18
申请号：US15275014
申请日：2016-09-23
Applicant: QUALCOMM Incorporated
Inventor： Benjamin Werner , William Morrison , Ning Luo , Ming Sun , Joseph Czompo
Abstract: Techniques provided herein are directed toward enabling on-device learning to create user-specific movement models that can be used for dead reckoning. Because these moving models are user-specific, they can be later used to identify user-specific motions in a manner that provides for a dead reckoning location estimation. In some embodiments, these models can be focused on pedestrian movement, based on the repetitive motion that occurs when a user takes a stride (walking, jogging, running, etc.) or other repetitive motion (swimming, riding a horse, etc.).
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公开(公告)号：US20180087903A1
公开(公告)日：2018-03-29
申请号：US15275014
申请日：2016-09-23
Applicant: QUALCOMM Incorporated
Inventor： Benjamin Werner , William Morrison , Ning Luo , Ming Sun , Joseph Czompo
CPC classification number: G01C21/14 , G01C21/16 , G01C21/165 , G01C22/006 , G01S19/26 , G01S19/49
Abstract: Techniques provided herein are directed toward enabling on-device learning to create user-specific movement models that can be used for dead reckoning. Because these moving models are user-specific, they can be later used to identify user-specific motions in a manner that provides for a dead reckoning location estimation. In some embodiments, these models can be focused on pedestrian movement, based on the repetitive motion that occurs when a user takes a stride (walking, jogging, running, etc.) or other repetitive motion (swimming, riding a horse, etc.).
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Patent Agency Ranking
公开(公告)号：US12140449B2
公开(公告)日：2024-11-12
申请号：US17814116
申请日：2022-07-21
Applicant: QUALCOMM Incorporated
Inventor： Himanshu Shah , Gautam Nirula , Hsiao Chien Liang , William Morrison
Abstract: Aspects presented herein may improve the performance of positioning devices by enabling the positioning devices to utilize transformed map data with limited third party knowledge of the transformation. Aspects presented herein may enable a positioning device to make the map data from another coordinate system usable for positioning algorithms without knowledge of the transformation. In one aspect, a UE transmits a request for map data based on a first set of coordinates in a first coordinate system. The UE receives the map data based on a second set of coordinates in a second coordinate system, where the first set of coordinates in the first coordinate system is distinct from the second set of coordinates in the second coordinate system. The UE calculates a set of relative distances between the second set of coordinates and one or more objects corresponding to the map data.
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公开(公告)号：US10041800B2
公开(公告)日：2018-08-07
申请号：US15275006
申请日：2016-09-23
Applicant: QUALCOMM Incorporated
Inventor： William Morrison , Ming Sun , Ning Luo , Joseph Czompo , Benjamin Werner
Abstract: Techniques provided herein are directed toward resolving a direction of travel of a mobile device based on MEMS sensor data by identifying a type of motion the mobile device is subject to and offsetting vertical acceleration data with horizontal acceleration data by a predetermined time offset based on the identified type of motion. The offset vertical and horizontal acceleration data can then be used to resolve, with an increased accuracy, a direction of travel of the mobile device.
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8.发明授权公开(公告)号：US12252274B2
公开(公告)日：2025-03-18
申请号：US17804849
申请日：2022-05-31
Applicant: QUALCOMM Incorporated
Inventor： Songwon Jee , Yunxiang Liu , William Morrison
Abstract: Aspects presented herein may enable a positioning device or entity to perform PR measurement error detection and classification based on SV geometry via ML. In one aspect, a UE or a location server determines for each SV of a set of SVs at least a geometric orientation with respect to the UE. The UE or the location server determines, based on an ML classifier and the determined geometric orientation with respect to the UE for each SV of at least a subset of the set of SVs, a relative PR weight for each SV of the set of SVs. The UE or the location server estimates a position of the UE based on PR measurements of each SV of the set of SVs and the relative PR weight for each SV of the set of SVs.
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公开(公告)号：US12235349B2
公开(公告)日：2025-02-25
申请号：US18326149
申请日：2023-05-31
Applicant: QUALCOMM Incorporated
Inventor： Gautam Nirula , William Morrison
Abstract: Techniques are provided for determining a location of a mobile device based on visual positioning solution (VPS). An example method for determining a position estimate of a mobile device includes obtaining sensor information, detecting one or more identifiable features in the sensor information, determining a range to at least one of the one or more identifiable features, obtaining coarse map information, determining a location of the at least one of the one or more identifiable features based on the coarse map information, and determining the position estimate for the mobile device based at least in part on the range to the at least one of the one or more identifiable features.
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公开(公告)号：US11703586B2
公开(公告)日：2023-07-18
申请号：US17198560
申请日：2021-03-11
Applicant: QUALCOMM Incorporated
Inventor： Gautam Nirula , William Morrison
CPC classification number: G01S13/867 , G01S13/865 , G01S13/89 , G01S19/071 , G01S19/10
Abstract: Techniques are provided for determining a location of a mobile device based on visual positioning solution (VPS). An example method for determining a position estimate of a mobile device includes obtaining sensor information, detecting one or more identifiable features in the sensor information, determining a range to at least one of the one or more identifiable features, obtaining coarse map information, determining a location of the at least one of the one or more identifiable features based on the coarse map information, and determining the position estimate for the mobile device based at least in part on the range to the at least one of the one or more identifiable features.
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