User-specific motion model for location estimation

A device, comprising:

• at least one processor;
• and
• a memory including instructions that, when executed by the at least one processor, cause the at least one processor to:
• estimate a first state of a device based on a first set of parameters, the first set of parameters derived from first sensor data obtained on the device, the first set of parameters corresponding to device motion;
• and
• estimate a second state of a user of the device based on a second set of parameters, the second set of parameters derived from second sensor data obtained on the device, the second set of parameters corresponding to user motion,
• wherein estimating the first and second states is based on a filter which implements a constraint on estimating both the first state and the second state that the device and the user be within a predefined distance of each other;
• and
• providing at least one of the first state of the device or the second state of the user.

A computer program product comprising code stored in a non-transitory computer-readable storage medium, the code comprising:

• code to estimate a first state of a device based on a first set of parameters, the first set of parameters derived from first sensor data obtained on the device, the first set of parameters corresponding to device motion;
• and
• code to estimate a second state of a user of the device based on a second set of parameters, the second set of parameters derived from second sensor data obtained on the device, the second set of parameters corresponding to user motion,
• wherein estimating the first and second states comprises constraining both the estimate of the first state and the estimate of the second state using a predefined distance between the device and the user;
• and
• code to provide at least one of the first state of the device or the second state of the user.