Inertial navigation aided with multi-interval pose measurements
AssigneeQUALCOMM Incorporated
InventorsNisarg Keyurbhai TRIVEDI, Diyan TENG, Junsheng HAN, Victor KULIK, Rashmi KULKARNI
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Abstract
Techniques for inertial navigation aided with multi-interval pose measurements are disclosed. The techniques can include obtaining inertial measurement unit (IMU) data from an IMU, generating, based on the IMU data, a respective pose measurement vector according to each of a plurality of machine-learning models, resulting in a plurality of pose measurement vectors, wherein each of the plurality of pose measurement vectors is associated with a respective one of multiple motion classes, and determining a device pose estimate based on the IMU data and the plurality of pose measurement vectors.
Claims30
A method for inertial navigation, comprising:
- obtaining inertial measurement unit (IMU) data from an IMU;
- generating, based on the IMU data, a respective pose measurement vector according to each of a plurality of machine-learning models, resulting in a plurality of pose measurement vectors, wherein each of the plurality of pose measurement vectors is associated with a respective one of multiple motion classes;
- and
- determining a device pose estimate based on the IMU data and the plurality of pose measurement vectors.
An apparatus for inertial navigation, comprising:
- an inertial measurement unit (IMU);
- a transceiver;
- a memory;
- and
- one or more processors communicatively coupled with the transceiver and the memory, wherein the one or more processors are configured to:
- obtain IMU data from the IMU;
- generate, based on the IMU data, a respective pose measurement vector according to each of a plurality of machine-learning models, resulting in a plurality of pose measurement vectors, wherein each of the plurality of pose measurement vectors is associated with a respective one of multiple motion classes;
- and
- determine a device pose estimate based on the IMU data and each of the plurality of pose measurement vectors.
An apparatus for inertial navigation, comprising:
- means for obtaining inertial measurement unit (IMU) data from an IMU;
- means for generating, based on the IMU data, a respective pose measurement vector according to each of a plurality of machine-learning models, resulting in a plurality of pose measurement vectors, wherein each of the plurality of pose measurement vectors is associated with a respective one of multiple motion classes;
- and
- means for determining a device pose estimate based on the IMU data and each of the plurality of pose measurement vectors.
Dependencies are inferred from the claim text.