US 12,359,918 B2
Method and apparatus for recovering frame orientation between body and vehicle frames for an inertial navigation system
Jani Käppi, Tampere (FI)
Assigned to HERE GLOBAL B.V., Eindhoven (NL)
Filed by HERE GLOBAL B.V., Eindhoven (NL)
Filed on Mar. 30, 2022, as Appl. No. 17/657,218.
Prior Publication US 2023/0314142 A1, Oct. 5, 2023
Int. Cl. G01C 21/16 (2006.01)
CPC G01C 21/16 (2013.01) 20 Claims
OG exemplary drawing
 
1. A method for recovering of frame orientation between body and vehicle frames for an inertial navigation system (INS) following movement of a mobile device defining the body frame with respect to a vehicle defining the vehicle frame, the method comprising:
detecting movement of the mobile device relative to the vehicle based on a comparison of vehicle orientation with a predefined vehicle orientation threshold;
in response to detecting movement of the mobile device relative to the vehicle, identifying (i) a point in time prior to or corresponding to commencement of movement of the mobile device relative to the vehicle and (ii) a subsequent point in time at which the mobile device is stable relative to the vehicle, wherein identifying the subsequent point in time comprises forward processing sensor samples of the INS from the point in time prior to or corresponding to commencement of movement of the mobile device relative to the vehicle to the subsequent point in time at which the mobile device is stable relative to the vehicle, and wherein forward processing the sensor samples comprises utilizing filter parameters of one or more filters of the INS and sensor samples stored by a history buffer without application of non-holonomic constraints;
following forward processing to the subsequent point in time at which the mobile device is stable relative to the vehicle, determining the frame orientation between body and vehicle frames; and
based upon the determined frame orientation between body and vehicle frames, determining a navigation solution for the vehicle in reliance upon non-holonomic constraints.