US 11,709,279 B2
Device orientation initialization
Isaac T. Miller, Half Moon Bay, CA (US); and Mark G. Petovello, Los Gatos, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Dec. 12, 2019, as Appl. No. 16/712,890.
Claims priority of provisional application 62/886,900, filed on Aug. 14, 2019.
Prior Publication US 2021/0048541 A1, Feb. 18, 2021
Int. Cl. G01S 19/39 (2010.01); G01S 19/43 (2010.01); G01S 19/49 (2010.01)
CPC G01S 19/393 (2019.08) [G01S 19/43 (2013.01); G01S 19/49 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
determining, by a device, that the device is within or coupled to a vehicle in motion;
selecting, by the device in response to the determining, to use a first position estimation model to estimate a position of the device;
estimating, by the device, the position of the device using the first position estimation model;
detecting, by the device, a predefined condition with respect to using the first position estimation model to estimate the position of the device;
selecting, by the device in response to detecting the predefined condition, to switch from using the first position estimation model to using a second position estimation model to estimate the position of the device while the device is within or coupled to the vehicle in motion; and
estimating, by the device, the position of the device using the second position estimation model,
wherein the first and second position estimation models apply different respective error state metrics to estimate the position of the device.