Inertial sensor aided heading and positioning for GNSS vehicle navigation

A mobile device to detect if the mobile device is unmounted, the mobile device comprising:

• an inertial measurement unit comprising an accelerometer;
• a processor coupled to the inertial measurement unit;
• and
• memory coupled to the processor, comprising code for:
• receiving accelerometer measurements;
• determining an average of the accelerometer measurements;
• computing a parameter based on the accelerometer measurements and the average;
• computing a variance of the parameter;
• comparing the variance to a threshold;
• and
• declaring the mobile device is unmounted based on the variance being greater than the threshold.

A mobile device to detect if the mobile device is unmounted, the mobile device comprising:

• means for receiving accelerometer measurements;
• means for determining an average of the accelerometer measurements;
• means for computing a parameter based on the accelerometer measurements and the average;
• means for computing a variance of the parameter;
• means for comparing the variance to a threshold;
• and
• means for declaring the mobile device is unmounted based on the variance being greater than the threshold.

A mobile device comprising a processor and a memory wherein the memory includes software instructions for:

• receiving accelerometer measurements;
• determining an average of the accelerometer measurements;
• computing a parameter based on the accelerometer measurements and the average;
• computing a variance of the parameter;
• comparing the variance to a threshold;
• and
• declaring the mobile device is unmounted based on the variance being greater than the threshold.

A non-transitory computer-readable storage medium including program code stored thereon, comprising program code for a mobile device for:

• receiving accelerometer measurements;
• determining an average of the accelerometer measurements;
• computing a parameter based on the accelerometer measurements and the average;
• computing a variance of the parameter;
• comparing the variance to a threshold;
• and
• declaring the mobile device is unmounted based on the variance being greater than the threshold.

A method in a mobile device to detect if the mobile device is unmounted, the method comprising:

• receiving, in the mobile device, gyroscope measurements;
• determining, by the mobile device, an average of the gyroscope measurements;
• computing a parameter based on the gyroscope measurements and the average;
• computing a variance of the parameter;
• comparing the variance to a threshold;
• and
• declaring, by the mobile device, the mobile device is unmounted based on the variance being greater than the threshold.

A mobile device to detect if the mobile device is unmounted, the mobile device comprising:

• an inertial measurement unit comprising a gyroscope;
• a processor coupled to the inertial measurement unit;
• and
• memory coupled to the processor, comprising code for:
• receiving gyroscope measurements;
• determining an average of the gyroscope measurements;
• computing a parameter based on the gyroscope measurements and the average;
• computing a variance of the parameter;
• comparing the variance to a threshold;
• and
• declaring the mobile device is unmounted based on the variance being greater than the threshold.

A mobile device to detect if the mobile device is unmounted, the mobile device comprising:

• means for receiving gyroscope measurements;
• means for determining an average of the gyroscope measurements;
• means for computing a parameter based on the gyroscope measurements and the average;
• means for computing a variance of the parameter;
• means for comparing the variance to a threshold;
• and
• means for declaring the mobile device is unmounted based on the variance being greater than the threshold.

A mobile device comprising a processor and a memory wherein the memory includes software instructions for:

• receiving gyroscope measurements;
• determining an average of the gyroscope measurements;
• computing a parameter based on the gyroscope measurements and the average;
• computing a variance of the parameter;
• comparing the variance to a threshold;
• and
• declaring the mobile device is unmounted based on the variance being greater than the threshold.

A non-transitory computer-readable storage medium including program code stored thereon, comprising program code for a mobile device for:

• receiving gyroscope measurements;
• determining an average of the gyroscope measurements;
• computing a parameter based on the gyroscope measurements and the average;
• computing a variance of the parameter;
• comparing the variance to a threshold;
• and
• declaring the mobile device is unmounted based on the variance being greater than the threshold.

A method in a mobile device to detect if the mobile device is unmounted, the method comprising:

• receiving, in the mobile device, accelerometer measurements;
• determining, by the mobile device, an average of the accelerometer measurements;
• computing an angle between the average and an axis perpendicular to a viewable display on the mobile device;
• comparing the angle to a threshold;
• and
• declaring, by the mobile device, the mobile device is unmounted based on the angle being less than the threshold.

A mobile device to detect if the mobile device is unmounted, the mobile device comprising:

• an inertial measurement unit comprising an accelerometer;
• a processor coupled to the inertial measurement unit;
• and
• memory coupled to the processor, comprising code for:
• receiving accelerometer measurements;
• determining an average of the accelerometer measurements;
• computing an angle between the average and an axis perpendicular to a viewable display on the mobile device;
• comparing the angle to a threshold;
• and
• declaring the mobile device is unmounted based on the angle being less than the threshold.

A mobile device to detect if the mobile device is unmounted, the mobile device comprising:

• means for receiving accelerometer measurements;
• means for determining an average of the accelerometer measurements;
• means for computing an angle between the average and an axis perpendicular to a viewable display on the mobile device;
• means for comparing the angle to a threshold;
• and
• means for declaring the mobile device is unmounted based on the angle being less than the threshold.

A mobile device comprising a processor and a memory wherein the memory includes software instructions for:

• receiving accelerometer measurements;
• determining an average of the accelerometer measurements;
• computing an angle between the average and an axis perpendicular to a viewable display on the mobile device;
• comparing the angle to a threshold;
• and
• declaring the mobile device is unmounted based on the angle being less than the threshold.

A non-transitory computer-readable storage medium including program code stored thereon, comprising program code for a mobile device for:

• receiving accelerometer measurements;
• determining an average of the accelerometer measurements;
• computing an angle between the average and an axis perpendicular to a viewable display on the mobile device;
• comparing the angle to a threshold;
• and
• declaring the mobile device is unmounted based on the angle being less than the threshold.

A method in a mobile device to detect if the mobile device is unmounted, the method comprising:

• computing, in the mobile device, variance values for a virtual gyroscope heading rate;
• setting a flag if any of the variance values exceed a respective threshold;
• and
• declaring, by the mobile device, the mobile device is not in a mounted state based on the flag.

A mobile device to detect if the mobile device is unmounted, the mobile device comprising:

• an inertial measurement unit comprising an accelerometer;
• a processor coupled to the inertial measurement unit;
• and
• memory coupled to the processor, comprising code for:
• computing variance values for a virtual gyroscope heading rate;
• setting a flag if any of the variance values exceed a respective threshold;
• and
• declaring the mobile device is not in a mounted state based on the flag.

A mobile device to detect if the mobile device is unmounted, the mobile device comprising:

• means for computing variance values for a virtual gyroscope heading rate;
• means for setting a flag if any of the variance values exceed a respective threshold;
• and
• means for declaring the mobile device is not in a mounted state based on the flag.

A device comprising a processor and a memory wherein the memory includes software instructions for:

• computing variance values for a virtual gyroscope heading rate;
• setting a flag if any of the variance values exceed a respective threshold;
• and
• declaring the mobile device is not in a mounted state based on the flag.

A non-transitory computer-readable storage medium including program code stored thereon, comprising program code for:

• computing variance values for a virtual gyroscope heading rate;
• setting a flag if any of the variance values exceed a respective threshold;
• and
• declaring the mobile device is not in a mounted state based on the flag.