# US 11,441,904 B2 · Determination of position, velocity and/or heading by simultaneous use of on-device and on-vehicle information > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,441,904 B2 - Document ID: US11441904B2 - Status: Granted - Kind: B2 - Application number: 16/020,009 - Filed: 2018-06-27 - Published: 2018-10-25 - Granted: 2022-09-13 - Earliest claimed: 2012-12-06 - Assignees: QUALCOMM Incorporated - Applicants: QUALCOMM Incorporated - Inventors: Wyatt Riley - Web page: https://patentgrep.com/patent/US11441904B2 ## CPC - G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)} - G01C 21/1654: {with electromagnetic compass} - G01C 21/28: with correlation of data from several navigational instruments - G01C 25/005: {initial alignment, calibration or starting-up of inertial devices} - G01S 5/0072: {Transmission between mobile stations, e.g. anti-collision systems} - G01S 19/49: whereby the further system is an inertial position system, e.g. loosely-coupled - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## 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. ## Claims ### Claim 1 A method to improve a navigation solution, the method comprising: communicatively coupling a first navigation system to a second navigation system; receiving, at the first navigation system, a first signal from the first navigation system, wherein the first signal comprises a first sensor signal or a first global navigation satellite system (GNSS) signal, wherein the first signal is not a location of the first navigation system; receiving, at the first navigation system, a second signal from the second navigation system, wherein the second signal comprises at least one of a second sensor signal or a second GNSS signal, wherein the second signal is not a location of the second navigation system; and setting the navigation solution at the first navigation system based on the second signal from the second navigation system and the first signal from the first navigation system, wherein setting the navigation solution at the first navigation system comprises integrating the second signal from the second navigation system with the first signal from the first navigation system into a stream of signals comprising the first signal and the second signal and determining the navigation solution using the stream of signals. ### Claim 2 (depends on 1) The method of claim 1, wherein the first navigation system comprises a vehicle navigation system and the second navigation system comprises a navigation system of a mobile device. ### Claim 3 (depends on 1) The method of claim 1, wherein the first navigation system comprises a navigation system of a mobile device and the second navigation system comprises a vehicle navigation system. ### Claim 4 (depends on 1) The method of claim 1, wherein the second signal from the second navigation system comprises the second sensor signal from a sensor in the second navigation system. ### Claim 5 (depends on 4) The method of claim 4, wherein the second sensor signal comprises at least one of: a turn-rate value; a speedometer value; an accelerometer value; a gyroscope value; or some combination thereof. ### Claim 6 (depends on 1) The method of claim 1, wherein determining the navigation solution comprises: selecting between the first signal from the first navigation system and the second signal from the second navigation system based on a desired characteristic resulting in a signal with the desired characteristic; and determining the navigation solution at the first navigation system based on the signal with the desired characteristic; wherein the second signal from the second navigation system comprises the second sensor signal from a sensor in the second navigation system. ### Claim 7 (depends on 1) The method of claim 1, further comprising determining one of the first navigation system and the second navigation system is in a mounted state. ### Claim 8 (depends on 1) The method of claim 1, further comprising calibrating a sensor in the first navigation system with the second signal from the second navigation system. ### Claim 9 (depends on 1) The method of claim 1, further comprising sending the first signal from the first navigation system to calibrate a sensor in the second navigation system. ### Claim 10 (depends on 1) The method of claim 1, wherein setting the navigation solution at the first navigation system further comprises: using a Kalman filter to integrate the second signal from the second navigation system with the first signal from the first navigation system into a continuous stream of signals; and determining the navigation solution using the continuous stream of one or more sensor signals. ### Claim 11 (depends on 1) The method of claim 1, wherein setting the navigation solution at the first navigation system further comprises: comparing the second signal from the second navigation system to the first signal from the first navigation system; selecting a set of signals from both the second navigation system and the first signal from the first navigation system; and determining the navigation solution using the set of signals selected. ### Claim 12 A first navigation system for improving a navigation solution, the first navigation system comprising: an interface to a second navigation system; and a processor coupled to the interface and configured to: receive, at the first navigation system, a first signal from the first navigation system, wherein the first signal comprises a first sensor signal or a first global navigation satellite system (GNSS) signal, wherein the first signal is not a location of the first navigation system; receive, via the interface to the second navigation system, a second signal from the second navigation system, wherein the second signal comprises at least one of a second sensor signal or a second GNSS signal, wherein the second signal is not a location of the second navigation system; and set the navigation solution at the first navigation system based on the second signal from the second navigation system and the first signal from the first navigation system, wherein the processor is configured to set the navigation solution at the first navigation system by being configured to integrate the second signal from the second navigation system with the first signal from the first navigation system into a stream of signals comprising the first signal and the second signal and determine the navigation solution using the stream of signals. ### Claim 13 (depends on 12) The first navigation system of claim 12, wherein the first navigation system comprises a vehicle navigation system and the second navigation system comprises a navigation system of a mobile device. ### Claim 14 (depends on 12) The first navigation system of claim 12, wherein the first navigation system comprises a navigation system of a mobile device and the second navigation system comprises a vehicle navigation system. ### Claim 15 (depends on 12) The first navigation system of claim 12, wherein the interface comprises a Bluetooth interface. ### Claim 16 (depends on 12) The first navigation system of claim 12, wherein the second signal from the second navigation system comprises the second sensor signal from a sensor in the second navigation system. ### Claim 17 (depends on 12) The first navigation system of claim 12, wherein the second signal from the second navigation system comprises the GNSS signal from a GNSS receiver in the second navigation system. ### Claim 18 (depends on 12) The first navigation system of claim 12, further comprising: a sensor configured to provide the first sensor signal; wherein the processor is further configured to calibrate the sensor based on the second signal from the second navigation system. ### Claim 19 (depends on 12) The first navigation system of claim 12, further comprising: a sensor configured to provide the first sensor signal; wherein the second signal comprises the sensor signal, and wherein the processor is further configured to send the first sensor signal the first sensor signal to the second navigation system for calibrating a sensor in the second navigation system. ### Claim 20 A first navigation system for improving a navigation solution, the first navigation system comprising: means for communicatively coupling the first navigation system to a second navigation system; means for receiving, at the first navigation system, a first signal from the first navigation system, wherein the first signal comprises a first sensor signal or a first global navigation satellite system (GNSS) signal, wherein the first signal is not a location of the first navigation system; means for receiving, at the first navigation system, a second signal from the second navigation system, wherein the second signal comprises at least one of a second sensor signal or a second GNSS signal, wherein the second signal is not a location of the second navigation system; and means for setting the navigation solution at the first navigation system based on the second signal from the second navigation system and the first signal from the first navigation system, wherein the means for setting the navigation solution at the first navigation system comprises a means for integrating the second signal from the second navigation system with the first signal from the first navigation system into a stream of signals comprising the first signal and the second signal and a means for determining the navigation solution using the stream of signals. ### Claim 21 (depends on 20) The first navigation system of claim 20, wherein the first navigation system comprises a vehicle navigation system and the second navigation system comprises a navigation system of a mobile device. ### Claim 22 (depends on 20) The first navigation system of claim 20, wherein the first navigation system comprises a navigation system of a mobile device and the second navigation system comprises a vehicle navigation system. ### Claim 23 (depends on 20) The first navigation system of claim 20, wherein the second signal from the second navigation system comprises the second sensor signal from the second navigation system. ### Claim 24 (depends on 20) The first navigation system of claim 20, wherein the second signal from the second navigation system comprises the second GNSS signal from a GNSS receiver in the second navigation system. ### Claim 25 (depends on 20) The first navigation system of claim 20, further comprising means for calibrating a sensor in the first navigation system with the second signal from the second navigation system. ### Claim 26 (depends on 20) The first navigation system of claim 20, further comprising means for sending the first signal from the first navigation system to calibrate a sensor in the second navigation system. ### Claim 27 A non-transitory computer-readable storage medium including program code stored thereon for a first navigation system to improve a navigation solution, comprising program code to: communicatively couple the first navigation system to a second navigation system; receive, at the first navigation system, a first signal from the first navigation system, wherein the first signal comprises a first sensor signal or a first global navigation satellite system (GNSS) signal, wherein the first signal is not a location of the first navigation system; receive, at the first navigation system, a second signal from the second navigation system, wherein the second signal comprises at least one of a second sensor signal or a second GNSS signal, wherein second signal is not a location of the second navigation system; and set the navigation solution at the first navigation system based on the second signal from the second navigation system and the first signal from the first navigation system, wherein the program code to set the navigation solution at the first navigation system comprises program code to determine the navigation solution by integrating the second signal from the second navigation system with the first signal from the first navigation system into a stream of signals comprising the first signal and the second signal and program code to determine the navigation solution using the stream of signals. ### Claim 28 (depends on 27) The non-transitory computer-readable storage medium of claim 27, wherein the first navigation system comprises a vehicle navigation system and the second navigation system comprises a navigation system of a mobile device. ### Claim 29 (depends on 27) The non-transitory computer-readable storage medium of claim 27, wherein the second signal from the second navigation system comprises the second sensor signal from the second navigation system. ### Claim 30 (depends on 27) The non-transitory computer-readable storage medium of claim 27, wherein the second signal from the second navigation system comprises the second GNSS signal from a GNSS receiver in the second navigation system.