US 11,747,143 B2
Methods and system for combining sensor data to measure vehicle movement
Brad Cordova, Cambridge, MA (US); Sanujit Sahoo, Somerville, MA (US); Nicholas Arcolano, Cambridge, MA (US); and John Emhoff, Watertown, MA (US)
Assigned to Cambridge Mobile Telematics Inc., Cambridge, MA (US)
Filed by Cambridge Mobile Telematics Inc., Cambridge, MA (US)
Filed on Oct. 29, 2020, as Appl. No. 17/84,364.
Application 17/084,364 is a continuation of application No. 16/043,850, filed on Jul. 24, 2018, granted, now 10,852,141.
Application 16/043,850 is a continuation of application No. 15/353,340, filed on Nov. 16, 2016, granted, now 10,054,446, issued on Aug. 21, 2018.
Claims priority of provisional application 62/256,511, filed on Nov. 17, 2015.
Prior Publication US 2021/0063161 A1, Mar. 4, 2021
Int. Cl. G01C 21/16 (2006.01); G01C 21/18 (2006.01); H04W 4/02 (2018.01); H04W 4/029 (2018.01); G01C 21/30 (2006.01); H04W 4/40 (2018.01)
CPC G01C 21/1654 (2020.08) [G01C 21/18 (2013.01); G01C 21/30 (2013.01); H04W 4/026 (2013.01); H04W 4/027 (2013.01); H04W 4/029 (2018.02); H04W 4/40 (2018.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
operating one or more sensors of a mobile device disposed in a vehicle during a drive to receive acceleration measurements and gyroscopic measurements, wherein the vehicle experiences an acceleration during a portion of the drive;
generating a gravity vector from the acceleration measurements and the gyroscopic measurements;
calculating a yaw estimate for the vehicle, wherein the yaw estimate is determined in a direction around an axis aligned with the gravity vector;
determining an estimate of an extent to which the vehicle is turning at a first time during the drive based on the yaw estimate for the vehicle and without using location data;
modifying the acceleration measurements corresponding to the first time based on the estimate of the extent to which the vehicle is turning at the first time to provide modified acceleration measurements; and
estimating the acceleration experienced by the vehicle during the portion of the drive based on the modified acceleration measurements.