US 12,143,892 B2
Method, device, and computer program for determining a change in position and/or orientation of a mobile apparatus
Frederik Lenard Hasecke, Solingen (DE); and Sönke Behrends, Düsseldorf (DE)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Dec. 30, 2021, as Appl. No. 17/646,605.
Claims priority of application No. 21150051 (EP), filed on Jan. 4, 2021.
Prior Publication US 2022/0217499 A1, Jul. 7, 2022
Int. Cl. H04W 4/02 (2018.01)
CPC H04W 4/027 (2013.01) [H04W 4/026 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method comprising:
acquiring a first data stream, the first data stream indicating a first estimated change in at least one of a position or an orientation of a mobile apparatus in respective ones of a plurality of time frames, the first estimated change indicating a first offset with regard to at least one of a previous position or a previous orientation of the mobile apparatus;
acquiring a second data stream, the second data stream indicating a second estimated change in the at least one of the position or the orientation of the mobile apparatus in the respective ones of the plurality of time frames, the second estimated change indicating a second offset with regard to the at least one of the previous position or the previous orientation of the mobile apparatus, the first data stream having a higher accuracy in indicating the first estimated change in the at least one of the position or the orientation when compared to an actual change in the at least one of the position or the orientation than the second data stream in indicating the second estimated change in the at least one of the position or the orientation, and the first data stream having a lower reliability in indicating the first estimated change in the at least one of the position or the orientation than the second data stream in indicating the second estimated change in the at least one of the position or the orientation;
determining a difference between the first offset and the second offset; and
determining a change in the at least one of the position or the orientation of the mobile apparatus by using the first estimated change to determine the change in the at least one of the position or the orientation of the mobile apparatus if the difference between the first offset and the second offset is smaller than the predetermined threshold and using the second estimated change to determine the change in the at least one of the position or the orientation of the mobile apparatus if the difference between the first offset and the second offset is larger than or equal to a predetermined threshold.