US 11,754,726 B2
Method and apparatus for in motion initialization of global navigation satellite system—inertial navigation system
Vinod Kumar Saini, Bengaluru (IN); Abdelmonaem Lakhzouri, Fremont, CA (US); Bo Zheng, Sunnyvale, CA (US); and William Morrison, San Francisco, CA (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Jul. 13, 2020, as Appl. No. 16/927,337.
Prior Publication US 2022/0011447 A1, Jan. 13, 2022
Int. Cl. G01S 19/47 (2010.01); G01S 19/39 (2010.01); G01S 19/42 (2010.01); G01S 19/52 (2010.01)
CPC G01S 19/47 (2013.01) [G01S 19/393 (2019.08); G01S 19/428 (2013.01); G01S 19/52 (2013.01)] 24 Claims
OG exemplary drawing
 
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.