Inertial navigation stabilization via barometer
AssigneeApple Inc.
InventorsIsaac T. MILLER, Changlin MA
Life of this patent
Estimating the term…
Abstract
A device implementing a system for estimating device location includes at least one processor configured to receive a first and second set of signals at a sampling interval, each set corresponding to location data. For each sampling period defined by the sampling interval, the at least one processor is configured to obtain first sensor data corresponding to device motion during the sampling period, obtain second sensor data corresponding to atmospheric pressure sampled at a beginning and end of the sampling period, calculate a change in altitude based on a difference in the atmospheric pressure at the beginning and end of the sampling period, and estimate a device state based on the first sensor data and change in altitude.
Claims20
A method, comprising:
- receiving, by a device, a first and second set of signals, each of the first and second set of signals corresponding to location data and each of the first and second set of signals being received based on a sampling interval;
- and
- for each sampling period defined by the sampling interval,
- obtaining first sensor data which corresponds to motion of the device during the sampling period,
- obtaining second sensor data which corresponds to atmospheric pressure at a beginning of the sampling period and at an end of the sampling period,
- calculating a change in altitude of the device, based on a difference in the atmospheric pressure as sampled at the beginning of the sampling period and at the end of the sampling period, and
- estimating a state of the device based on the first sensor data and the change in altitude of the device.
A device, comprising:
- a wireless receiver;
- plural sensors;
- and
- at least one processor configured to:
- receive, by the wireless receiver, a first and second set of signals, each of the first and second set of signals corresponding to location data and each of the first and second set of signals being received based on a sampling interval;
- and
- for each sampling period defined by the sampling interval,
- obtain, by a first sensor of the plural sensors, first sensor data which corresponds to motion of the device during the sampling period
- obtain, by a second sensor of the plural sensors, second sensor data which corresponds to atmospheric pressure at a beginning of the sampling period and at an end of the sampling period,
- calculate a change in altitude of the device, based on a difference in the atmospheric pressure as sampled at the beginning of the sampling period and at the end of the sampling period, and
- estimate a state of the device based on the first sensor data and the change in altitude of the device.
A computer program product comprising code stored in a tangible computer-readable storage medium, the code comprising:
- code to receive, by a device, a first and second set of signals, each of the first and second set of signals corresponding to location data and each of the first and second set of signals being received based on a sampling interval;
- and
- code to, for each sampling period defined by the sampling interval,
- obtain first sensor data which corresponds to motion of the device during the sampling period,
- obtain second sensor data which corresponds to atmospheric pressure at a beginning of the sampling period and at an end of the sampling period,
- calculate a change in altitude of the device, based on a difference in the atmospheric pressure as sampled at the beginning of the sampling period and at the end of the sampling period, and
- code to estimate a state of the device based on the first sensor data and the change in altitude of the device, and based on a vertical motion constraint which disregards or limits sensor measurements corresponding to a vertical direction for the first sensor data.
Dependencies are inferred from the claim text.