CPC G01S 19/47 (2013.01) [G01S 19/393 (2019.08); G01S 19/428 (2013.01); G01S 19/52 (2013.01)] | 24 Claims |
1. A method of in-motion calibration of a Global Navigation Satellite System (GNSS)-Inertial Navigation System (INS) system in a mobile device in a vehicle, the method comprising:
determining a first orientation of the mobile device with respect to a global reference frame based on a previous calibration of a GNSS-INS filter;
detecting an indication that the mobile device has moved with respect to the vehicle;
determining a second orientation of the mobile device with respect to the global reference frame based on an in-motion calibration of the GNSS-INS filter while the vehicle is moving;
comparing the first orientation and the second orientation; and
using the first orientation for the GNSS-INS filter to produce a position and heading based on the first orientation if a difference between the first orientation and the second orientation is below a threshold and using the second orientation for the GNSS-INS filter to produce the position and heading based on the second orientation if the difference between the first orientation and the second orientation is above the threshold.
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