# US 12,216,192 B2 · Angular and linear movement detection and compensation for user equipment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,216,192 B2 - Document ID: US12216192B2 - Status: Granted - Kind: B2 - Application number: 17/193,971 - Filed: 2021-03-05 - Published: 2022-09-08 - Granted: 2025-02-04 - Earliest claimed: 2021-03-05 - Assignees: QUALCOMM Incorporated - Applicants: QUALCOMM Incorporated - Inventors: Justin Patrick McGloin; Victor Kulik; Ana Londergan - Web page: https://patentgrep.com/patent/US12216192B2 ## CPC - G01S 13/583: {using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets} - G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors - A61B 5/1113: {Local tracking of patients, e.g. in a hospital or private home} - G01C 19/00: Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects - G01C 21/1652: {with ranging devices, e.g. LIDAR or RADAR} - G01P 15/08: with conversion into electric or magnetic values - G01S 7/354: {Extracting wanted echo-signals (Doppler systems G01S13/50)} - G01S 13/343: {using sawtooth modulation} - G01S 13/5242: {with means for platform motion or scan motion compensation, e.g. airborne MTI} - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01S 13/88: Radar or analogous systems specially adapted for specific applications (electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00) - A61B 5/002: {Monitoring the patient using a local or closed circuit, e.g. in a room or building (A61B5/0017 takes precedence)} - A61B 5/05: Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves (measuring movement of the entire body or parts thereof A61B5/11; detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof A61B5/24) - A61B 5/1101: {Detecting tremor} - A61B 5/113: occurring during breathing - A61B 5/6898: {Portable consumer electronic devices, e.g. music players, telephones, tablet computers} - A61B 5/7264: {Classification of physiological signals or data, e.g. using neural networks, statistical classifiers, expert systems or fuzzy systems} - A61B 5/7475: {User input or interface means, e.g. keyboard, pointing device, joystick} - A61B 2562/0219: Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches - G01S 7/40: Means for monitoring or calibrating - G06F 2200/1637: Sensing arrangement for detection of housing movement or orientation, e.g. for controlling scrolling or cursor movement on the display of an handheld computer - H04W 4/026: {using orientation information, e.g. compass} - H04W 4/38: for collecting sensor information - 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 - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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) - G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract In some implementations, a user equipment (UE) may determine an angular motion using at least one gyroscope. The UE may adjust at least one measurement from at least one sensor that is associated with the UE and used to measure relative position, based at least in part on the angular motion. Additionally, in some implementations, the UE may determine at least one distance between the at least one sensor and an estimated grip associated with the UE, and determine at least one translation associated with the at least one sensor based at least in part on the angular motion and the at least one distance. Accordingly, the UE may adjust the at least one measurement by offsetting the at least one measurement based at least in part on the at least one translation. ## Claims ### Claim 1 A method of movement detection performed by a user equipment (UE), comprising: determining one or more grip points associated with the UE based at least in part on a grip type; estimating an axis associated with an angular motion based at least in part on the grip type and the one or more grip points determining, based at least in part on the axis, the angular motion using at least one gyroscope of the UE; adjusting at least one measurement from at least one sensor that is associated with the UE and used to measure relative position, based at least in part on the angular motion, wherein the relative position is with respect to an external object to be classified as animate or inanimate; and classifying the external object as animate or inanimate based at least in part on the at least one measurement after adjusting. ### Claim 2 (depends on 1) The method of claim 1, wherein the at least one gyroscope is included in at least one inertial measurement unit of the UE. ### Claim 3 (depends on 1) The method of claim 1, wherein determining the angular motion comprises computing an angle from the at least one gyroscope of the UE. ### Claim 4 (depends on 1) The method of claim 1, wherein the angular motion is defined by an amplitude and a phase of angular vibration of the UE. ### Claim 5 (depends on 1) The method of claim 1, further comprising: determining at least one distance between the at least one sensor and an estimated grip associated with the UE. ### Claim 6 (depends on 5) The method of claim 5, further comprising: determining at least one translation associated with the at least one sensor based at least in part on the angular motion and the at least one distance. ### Claim 7 (depends on 6) The method of claim 6, wherein adjusting the at least one measurement comprises offsetting the at least one measurement based at least in part on the at least one translation. ### Claim 8 (depends on 6) The method of claim 6, further comprising: projecting the at least one translation onto a direction associated with the at least one sensor, wherein the at least one measurement is adjusted based at least in part on the projection. ### Claim 9 (depends on 1) The method of claim 1, further comprising: determining at least one linear movement of the UE using at least one measurement from at least one accelerometer of the UE, wherein the at least one measurement from the at least one sensor is adjusted based at least in part on at least one translation associated with the at least one sensor determined from the angular motion and the at least one linear movement. ### Claim 10 (depends on 9) The method of claim 9, wherein the at least one accelerometer is included in at least one inertial measurement unit of the UE. ### Claim 11 (depends on 9) The method of claim 9, wherein determining the at least one linear movement comprises adjusting the at least one measurement from the at least one accelerometer based at least in part on the angular motion and determining the at least one linear movement using the at least one adjusted measurement. ### Claim 12 (depends on 9) The method of claim 9, wherein the at least one linear movement is defined by an amplitude and a phase associated with motion of the UE. ### Claim 13 (depends on 9) The method of claim 9, further comprising: receiving at least one relative distance between the at least one sensor and the at least one accelerometer. ### Claim 14 (depends on 13) The method of claim 13, further comprising: determining at least one translation associated with the at least one sensor based at least in part on the angular motion, the at least one linear movement, and the at least one relative distance. ### Claim 15 (depends on 14) The method of claim 14, further comprising: projecting the at least one translation onto a direction associated with the at least one sensor, wherein the at least one measurement is adjusted based at least in part on the projection. ### Claim 16 (depends on 1) The method of claim 1, wherein the at least one sensor includes a radar device, and wherein adjusting the at least one measurement comprises adjusting a signal from the radar device. ### Claim 17 (depends on 1) The method of claim 1, further comprising: determining an orientation of the UE; and classifying the grip type associated with the UE based at least in part on the orientation. ### Claim 18 A user equipment (UE), comprising: a memory; and one or more processors operatively coupled to the memory, the memory and the one or more processors configured to: determine one or more grip points associated with the UE based at least in part on a grip type; estimate an axis associated with an angular motion based at least in part on the grip type and the one or more grip points; determine, based at least in part on the axis, the angular motion using at least one gyroscope of the UE; adjust at least one measurement from at least one sensor that is associated with the UE and used to measure relative position, based at least in part on the angular motion, wherein the relative position is with respect to an external object to be classified as animate or inanimate; and classify the external object as animate or inanimate based at least in part on the at least one measurement after adjusting. ### Claim 19 (depends on 18) The UE of claim 18, wherein the at least one gyroscope is included in at least one inertial measurement unit of the UE. ### Claim 20 (depends on 18) The UE of claim 18, wherein the one or more processors, when determining the angular motion, are configured to compute an angle from the at least one gyroscope of the UE. ### Claim 21 (depends on 18) The UE of claim 18, wherein the angular motion is defined by an amplitude and a phase of angular vibration of the UE. ### Claim 22 (depends on 18) The UE of claim 18, wherein the one or more processors are further configured to: determine at least one distance between the at least one sensor and an estimated grip associated with the UE. ### Claim 23 (depends on 22) The UE of claim 22, wherein the one or more processors are further configured to: determine at least one translation associated with the at least one sensor based at least in part on the angular motion and the at least one distance. ### Claim 24 (depends on 23) The UE of claim 23, wherein the one or more processors, when adjusting the at least one measurement, are configured to offset the at least one measurement based at least in part on the at least one translation. ### Claim 25 (depends on 23) The UE of claim 23, wherein the one or more processors are further configured to: project the at least one translation onto a direction associated with the at least one sensor, wherein the at least one measurement is adjusted based at least in part on the projection. ### Claim 26 (depends on 18) The UE of claim 18, wherein the one or more processors are further configured to: determine at least one linear movement of the UE using at least one measurement from at least one accelerometer of the UE, wherein the at least one measurement from the at least one sensor is adjusted based at least in part on at least one translation associated with the at least one sensor determined from the angular motion and the at least one linear movement. ### Claim 27 (depends on 26) The UE of claim 26, wherein the at least one accelerometer is included in at least one inertial measurement unit of the UE. ### Claim 28 (depends on 26) The UE of claim 26, wherein the one or more processors, when determining the at least one linear movement, are configured to adjust the at least one measurement from the at least one accelerometer based at least in part on the angular motion and determine the at least one linear movement using the at least one adjusted measurement. ### Claim 29 (depends on 26) The UE of claim 26, wherein the at least one linear movement is defined by an amplitude and a phase associated with motion of the UE. ### Claim 30 (depends on 26) The UE of claim 26, wherein the one or more processors are further configured to: receive at least one relative distance between the at least one sensor and the at least one accelerometer. ### Claim 31 (depends on 30) The UE of claim 30, wherein the one or more processors are further configured to: determine at least one translation associated with the at least one sensor based at least in part on the angular motion, the at least one linear movement, and the at least one relative distance. ### Claim 32 (depends on 31) The UE of claim 31, wherein the one or more processors are further configured to: project the at least one translation onto a direction associated with the at least one sensor, wherein the at least one measurement is adjusted based at least in part on the projection. ### Claim 33 (depends on 18) The UE of claim 18, wherein the at least one sensor includes a radar device, and wherein adjusting the at least one measurement comprises adjusting a signal from the radar device. ### Claim 34 (depends on 18) The UE of claim 18, wherein the memory and the one or more processors are further configured to: determine an orientation of the UE; and classify the grip type associated with the UE based at least in part on the orientation. ### Claim 35 A non-transitory computer-readable medium storing a set of instructions for wireless communication, the set of instructions comprising: one or more instructions that, when executed by one or more processors of a user equipment (UE), cause the UE to: determine one or more grip points associated with the UE based at least in part on a grip type; estimate an axis associated with an angular motion based at least in part on the grip type and the one or more grip points; determine, based at least in part on the axis, the angular motion using at least one gyroscope of the UE; adjust at least one measurement from at least one sensor that is associated with the UE and used to measure relative position, based at least in part on the angular motion, wherein the relative position is with respect to an external object to be classified as animate or inanimate; and classify the external object as animate or inanimate based at least in part on the at least one measurement after adjusting. ### Claim 36 An apparatus for wireless communication, comprising: means for determining one or more grip points associated with the apparatus based at least in part on a grip type; means for estimating an axis associated with an angular motion based at least in part on the grip type and the one or more grip points; means for determining, based at least in part on the axis, the angular motion using at least one gyroscope; means for adjusting at least one measurement from at least one sensor that is associated with the apparatus and used to measure relative position, based at least in part on the angular motion, wherein the relative position is with respect to an external object to be classified as animate or inanimate; and means for classifying the external object as animate or inanimate based at least in part on the at least one measurement after adjusting.