INERTIAL SENSOR AIDED HEADING AND POSITIONING FOR GNSS VEHICLE NAVIGATION

Abstract

An apparatus and method for providing an improved heading estimate of a mobile device in a vehicle is presented. First, the mobile device determines if it is mounted in a cradle attached to the vehicle; if so, inertia sensor data may be valid. While in a mounted stated, the mobile device determines whether it has been rotated in the cradle; if so, inertia sensor data may no longer be reliable and a recalibration to determine a new relative orientation between the vehicle and the mobile device is needed. If the mobile device is mounted and not recently rotated, heading data from multiple sensors (e.g., GPS, gyroscope, accelerometer) may be computed and combined to form the improved heading estimate. This improved heading estimate may be used to form an improved velocity estimate. The improved heading estimate may also be used to compute a bias to correct a gyroscope.

Description

BACKGROUND

I. Field of the Invention

This disclosure relates generally to apparatus and methods for determining headings in a wireless device, and more particularly to determining headings base on a combination of headings.

II. Background

Mobile devices used for navigation in a car or other vehicle sometimes use Global Navigation Satellite Systems (GNSS) positioning information in addition to accelerometer and gyroscope sensor measurements to formulate a current speed and heading. Such sensor measurements are most valuable when the mobile device “knows” how it is oriented with respect to the car. For example, the mobile device may be mounted in a cradle or other fixed structure in the car. Thus, when the mobile device experiences motion, the car is usually experiencing the same motion. On the other hand, if the mobile device is in a shirt pocket or sliding around on a seat or dashboard, then the mobile device motion and the car motion are correlated but not identical.

To determine whether a mobile device is mounted in a cradle, the cradle may have an electronic switch that is activated depending on whether the mobile device is in a mounted state. Each of these known cradles requires an extra switch on the cradle and an extra interface on the mobile device. Therefore, a means, without using extra cradle hardware, to detect whether a mobile device is mounted in a cradle is desired. Also, if a cradle provides pivoting or displacement with respect to the car, the relative relationship between the mobile device and car will change. Assuming that this relationship is permanently fixed while the mobile device is in its cradle is invalid with such pivoting cradles. Therefore, a means to detect when a mounted mobile device has been repositioned is desired.

In addition, many mobile devices provide heading information to a user for purposes of position location, navigation and routing. This heading information may be based on dead reckoning from sensor measurements and/or GNSS information. Such sensors include accelerometers and gyroscopes. Methods have long been desired to better select, weight and combine sensor measurements with GNSS information to provide a user with a more reliable and improved heading.

In addition to heading information, mobile devices include Kalman filters to predict a next GNSS position and velocity. The Kalman filter can better predicted the position and velocity with error feedback. Methods to provide an improve error feedback signal have long been desired.

Sensor calibration typically requires a mobile device to be stationary or traveling at a constant velocity. Methods to calibrate sensors, including gyroscopes, that have no such restraints are also desired.

BRIEF SUMMARY

Disclosed is an apparatus and method for providing and using an accurate and improved heading for a mobile device in a vehicle. Before an improved heading estimate is determined, the mobile device determines if the mobile device is in a mounted state in a cradle attached to the vehicle; if so, then inertia sensor data may be valid. If already in a mounted stated, the mobile device determines whether the mobile device has been rotated in the cradle; if so, then inertia sensor data may no longer be reliable and a recalibration to determine a new relative orientation between the vehicle and the mobile device is needed. If the mounted state of the device is known such that the mobile device is mounted and not recently rotated, heading data from multiple sensors (e.g., GPS, gyroscope, accelerometer) may be computed and combined to form an improved heading estimate. This improved heading estimate may be used to form an improved velocity estimate. The improved heading estimate may also be used to compute a bias to correct gyroscope calibration.

According to some aspects, disclosed is a method in a mobile device to detect if the mobile device is unmounted, the method comprising: receiving accelerometer measurements {right arrow over (a)}; determining an average {right arrow over (a)}_AVG of the accelerometer measurements {right arrow over (a)}; computing a parameter p based on the accelerometer measurements {right arrow over (a)}; computing a variance σ_p² of the parameter; comparing the variance σ_p² to a threshold; and declaring the mobile device is unmounted based on the variance σ_p² being greater than the threshold.

According to some aspects, disclosed is a mobile device to detect if the mobile device is unmounted, the mobile device comprising: an inertial measurement unit comprising an accelerometer; a processor coupled to the inertial measurement unit; and memory coupled to the processor, comprising code for: receiving accelerometer measurements {right arrow over (a)}; determining an average {right arrow over (a)}_AVG of the accelerometer measurements {right arrow over (a)}; computing a parameter p based on the accelerometer measurements {right arrow over (a)}; computing a variance σ_p² of the parameter; comparing the variance σ_p² to a threshold; and declaring the mobile device is unmounted based on the variance σ_p² being greater than the threshold.

According to some aspects, disclosed is a mobile device to detect if the mobile device is unmounted, the mobile device comprising: means for receiving accelerometer measurements {right arrow over (a)}; means for determining an average {right arrow over (a)}_AVG of the accelerometer measurements {right arrow over (a)}; means for computing a parameter p based on the accelerometer measurements {right arrow over (a)}; means for computing a variance σ_p² of the parameter; means for comparing the variance σ_p² to a threshold; and means for declaring the mobile device is unmounted based on the variance σ_p² being greater than the threshold.

According to some aspects, disclosed is a method in a mobile device to detect if the mobile device is unmounted, the method comprising: receiving gyroscope measurements {right arrow over (ω)}; determining an average {right arrow over (ω)}_AVG of the gyroscope measurements {right arrow over (ω)}; computing a parameter p based on the gyroscope measurement {right arrow over (ω)}; computing a variance σ_p² of the parameter; comparing the variance σ_p² to a threshold; and declaring the mobile device is unmounted based on the variance σ_p² being greater than the threshold.

According to some aspects, disclosed is a mobile device to detect if the mobile device is unmounted, the mobile device comprising: an inertial measurement unit comprising a gyroscope; a processor coupled to the inertial measurement unit; and memory coupled to the processor, comprising code for: receiving gyroscope measurements {right arrow over (ω)}; determining an average {right arrow over (ω)}_AVG of the gyroscope measurements {right arrow over (ω)}; computing a parameter p based on the gyroscope measurement {right arrow over (ω)}; computing a variance σ_p² of the parameter; comparing the variance σ_p² to a threshold; and declaring the mobile device is unmounted based on the variance σ_p² being greater than the threshold.

According to some aspects, disclosed is a mobile device to detect if the mobile device is unmounted, the mobile device comprising: means for receiving gyroscope measurements {right arrow over (ω)}; means for determining an average {right arrow over (ω)}_AVG of the gyroscope measurements {right arrow over (ω)}; means for computing a parameter p based on the gyroscope measurement {right arrow over (ω)}; means for computing a variance σ_p² of the parameter; means for comparing the variance σ_p² to a threshold; and means for declaring the mobile device is unmounted based on the variance σ_p² being greater than the threshold.

According to some aspects, disclosed is a method in a mobile device to detect if the mobile device is unmounted, the method comprising: receiving accelerometer measurements {right arrow over (a)}; determining an average {right arrow over (a)}_AVG of the accelerometer measurements {right arrow over (a)}; computing an angle θ between the average {right arrow over (a)}_AVG and an axis perpendicular to a viewable display on the mobile device; comparing the angle θ to 90 degrees; and declaring the mobile device is unmounted based on the angle θ being less than a threshold from 90 degrees.

According to some aspects, disclosed is a mobile device to detect if the mobile device is unmounted, the mobile device comprising: an inertial measurement unit comprising an accelerometer; a processor coupled to the inertial measurement unit; and memory coupled to the processor, comprising code for: receiving accelerometer measurements {right arrow over (a)}; determining an average {right arrow over (a)}_AVG of the accelerometer measurements {right arrow over (a)}; computing an angle θ between the average {right arrow over (a)}_AVG and an axis perpendicular to a viewable display on the mobile device; comparing the angle θ to 90 degrees; and declaring the mobile device is unmounted based on the angle θ being less than a threshold from 90 degrees.

According to some aspects, disclosed is a mobile device to detect if the mobile device is unmounted, the mobile device comprising: means for receiving accelerometer measurements {right arrow over (a)}; means for determining an average {right arrow over (a)}_AVG of the accelerometer measurements {right arrow over (a)}; means for computing an angle θ between the average {right arrow over (a)}_AVG and an axis perpendicular to a viewable display on the mobile device; means for comparing the angle θ to 90 degrees; and means for declaring the mobile device is unmounted based on the angle θ being less than a threshold from 90 degrees.

According to some aspects, disclosed is a method in a mobile device to detect if the mobile device is unmounted, the method comprising: computing variance values for at least one of: a sequence of accelerometer measurements ({right arrow over (a)}); a sequence of averages ({right arrow over (a)}_AVG) of accelerometer measurements; a sequence of gyroscope measurements ({right arrow over (ω)}); three sequences of scalar channelized gyroscope measurements (ω_X,ω_Y,ω_Z); and a virtual gyroscope heading rate ({dot over ( H); setting a flag if any of the variance values σ_p² exceed a respective threshold; and declaring the mobile device is not in a mounted state based on the flag.

According to some aspects, disclosed is a mobile device to detect if the mobile device is unmounted, the mobile device comprising: an inertial measurement unit comprising an accelerometer; a processor coupled to the inertial measurement unit; and memory coupled to the processor, comprising code for: computing variance values σ²_p for at least one of: a sequence of accelerometer measurements ({right arrow over (a)}); a sequence of averages ({right arrow over (a)}_AVG) of accelerometer measurements; a sequence of gyroscope measurements ({right arrow over (ω)}); three sequences of scalar channelized gyroscope measurements (ω_X, ω_Y, ω_Z); and a virtual gyroscope heading rate ({dot over ( H); setting a flag if any of the variance values σ_p² exceed a respective threshold; and declaring the mobile device is not in a mounted state based on the flag. A mobile device to detect if the mobile device is unmounted, the mobile device comprising: means for computing variance values σ_p² for at least one of: a sequence of accelerometer measurements ({right arrow over (a)}); a sequence of averages ({right arrow over (a)}_AVG) of accelerometer measurements; a sequence of gyroscope measurements ({right arrow over (ω)}); three sequences of scalar channelized gyroscope measurements (ω_X, ω_Y, ω_Z); and a virtual gyroscope heading rate ({dot over ( H); means for setting a flag if any of the variance values σ_p² exceed a respective threshold; and means for declaring the mobile device is not in a mounted state based on the flag.

According to some aspects, disclosed is a method in a mobile device for providing an improved heading, the method comprising: receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer; receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope; receiving a GNSS heading (H_GNSS) from a GNSS receiver; computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)}); computing a virtual gyroscope heading rate ({dot over (H)}_GNSS) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); and combining the GNSS heading (H_GNSS) and virtual gyroscope heading rate ({dot over (H)}_Gyro) to form the improved heading.

According to some aspects, disclosed is a mobile device to provide an improved heading, the mobile device comprising: an inertial measurement unit comprising an accelerometer and a gyroscope; a Global Navigation Satellite Systems receiver (GNSS receiver); a processor coupled to the inertial measurement unit and the GNSS receiver; and memory coupled to the processor, comprising code for: receiving an accelerometer measurement ({right arrow over (a)}) from the accelerometer; receiving a gyroscope measurement ({right arrow over (ω)}) from the gyroscope; receiving a GNSS heading (H_GNSS) from the GNSS receiver; computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)}); computing a virtual gyroscope heading rate ({dot over (H)}_Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); and combining the GNSS heading (H_GNSS) and virtual gyroscope heading rate ({dot over (H)}_Gyro) to form the improved heading.

According to some aspects, disclosed is a mobile device to provide an improved heading, the mobile device comprising: means for receiving an accelerometer measurement ({right arrow over (a)}); means for receiving a gyroscope measurement ({right arrow over (ω)}); means for receiving a GNSS heading (H_GNSS); means for computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)}); means for computing a virtual gyroscope heading rate ({dot over (H)}_Gyro) based a projection of the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); and means for combining the GNSS heading (H_GNSS) and virtual gyroscope heading rate

According to some aspects, disclosed is a method in a mobile device for providing an improved velocity, the method comprising: receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer; receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope; receiving a GNSS velocity ({right arrow over (V)}_GNSS) comprising a GNSS heading ({right arrow over (H)}_GNSS) from a GNSS receiver; computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)}); computing a virtual gyroscope heading rate ({dot over (H)}_Gyro) based on a projection of the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); combining the GNSS heading (H_GNSS) and virtual gyroscope heading rate ({dot over (H)}_Gyro) to form an improved heading (Ĥ); and computing the improved velocity from the improved heading (Ĥ).

According to some aspects, disclosed is a mobile device to provide an improved velocity, the mobile device comprising: an inertial measurement unit comprising an accelerometer and a gyroscope; a Global Navigation Satellite Systems receiver (GNSS receiver); a processor coupled to the inertial measurement unit and the GNSS receiver; and memory coupled to the processor, comprising code for: receiving an accelerometer measurement ({right arrow over (a)}) from the accelerometer; receiving a gyroscope measurement ({right arrow over (ω)}) from the gyroscope; receiving a GNSS velocity ({right arrow over (V)}_GNSS) comprising a GNSS heading ({right arrow over (H)}_GNSS) from the GNSS receiver; computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)}); computing a virtual gyroscope heading rate ({dot over (H)}_Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); combining the GNSS heading (H_GNSS) and virtual gyroscope heading rate ({dot over (H)}_Gyro) to form an improved heading (Ĥ); and computing the improved velocity from the improved heading (Ĥ).

According to some aspects, disclosed is a mobile device to provide an improved velocity, the mobile device comprising: means for receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer; means for receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope; means for receiving a GNSS velocity ({right arrow over (V)}_GNSS) comprising a GNSS heading ({right arrow over (H)}_GNSS) from a GNSS receiver; means for computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)}); means for computing a virtual gyroscope heading rate ({dot over (H)}_Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); means for combining the GNSS heading (H_GNSS) and virtual gyroscope heading rate ({dot over (H)}_Gyro) to form an improved heading (Ĥ); and means for computing the improved velocity from the improved heading (Ĥ).

According to some aspects, disclosed is a method in a mobile device for generating a gyroscope bias, the method comprising: receiving at least two GNSS headings (H_GNSS) from a GNSS receiver; computing a GNSS heading difference (ΔH_GNSS) based on the GNSS headings (H_GNSS); converting the GNSS heading difference (ΔH_GNSS) to a negative GNSS heading rate (−{dot over (H)}_GNSS) by scaling by a GNSS time difference (−ΔT_GNSS); receiving gyroscope measurements ({right arrow over (ω)}) from a gyroscope; computing the virtual gyroscope heading rate ({dot over (H)}_Gyro) from the gyroscope measurements ({right arrow over (ω)}); forming a corrected gyroscope heading rate ({dot over (H)}_Gyro,CORR) from the virtual gyroscope heading rate ({dot over (H)}_Gyro); averaging the corrected gyroscope heading rate ({dot over (H)}_Gyro,CORR) to form the virtual gyroscope heading rate ({dot over ( H_Gyro,CORR), and summing the negative GNSS heading rate (−{dot over ( H_GNSS) and the virtual gyroscope heading rate ({dot over ( HH_Gyro) to form the gyroscope bias.

According to some aspects, disclosed is a mobile device to generate a gyroscope bias, the mobile device comprising: an inertial measurement unit comprising an accelerometer and a gyroscope; a Global Navigation Satellite Systems receiver (GNSS receiver); a processor coupled to the inertial measurement unit and the GNSS receiver; and memory coupled to the processor, comprising code for: receiving GNSS headings (H_GNSS) from the GNSS receiver; computing a GNSS heading difference (ΔH_GNSS) based on the GNSS headings (H_GNSS); converting the GNSS heading difference (, ΔH_GNSS) to a negative GNSS heading rate (−{dot over (H)}_GNSS) by scaling by a GNSS time difference (−ΔT_GNSS); receiving gyroscope measurements ({right arrow over (ω)}) from the gyroscope; computing the virtual gyroscope heading rate ({dot over (H)}_Gyro) from the gyroscope measurements ({right arrow over (ω)}); forming a corrected gyroscope heading rate ({dot over (H)}_Gyro,CORR) from the virtual gyroscope heading rate ({dot over (H)}_Gyro); averaging the corrected gyroscope heading rate ({dot over (H)}_Gyro,CORR) to form the virtual gyroscope heading rate ({dot over ( H_Gyro,CORR), and summing the average heading rate (−{dot over (H)}_GNSS) and the virtual gyroscope heading rate ({dot over ( H_Gyro) to form the gyroscope bias.

According to some aspects, disclosed is a mobile device to generate a gyroscope bias, the mobile device comprising: means for receiving at least two GNSS headings (H_GNSS) from a GNSS receiver; means for computing an GNSS heading difference (ΔH_GNSS) based on the GNSS headings (H_GNSS); means for converting the GNSS heading difference (ΔH_GNSS) to a negative GNSS heading rate (−{dot over (H)}_GNSS) by scaling by a GNSS time difference (−ΔT_GNSS); means for receiving gyroscope measurements ({right arrow over (ω)}) from a gyroscope; means for computing the virtual gyroscope heading rate ({dot over (H)}_Gyro) from the gyroscope measurements ({right arrow over (ω)}); means for forming a corrected gyroscope heading rate ({dot over (H)}_Gyro,CORR) from the virtual gyroscope heading rate ({dot over (H)}_Gyro); means for averaging the corrected gyroscope heading rate ({dot over (H)}_Gyro,CORR) to form the virtual gyroscope heading rate ({dot over ( H_Gyro,CORR), and means for summing the negative GNSS heading rate (−{dot over (H)}_GNSS) and the virtual gyroscope heading rate ({dot over ( H_Gyro) to form the gyroscope bias.

According to some aspects, disclosed is a method in a mobile device for generating a gyroscope bias, the method comprising: receiving a GNSS heading (H_GNSS); receiving gyroscope measurements ({right arrow over (ω)}); and computing the gyroscope bias based on the GNSS heading (H_GNSS) and the gyroscope measurements ({right arrow over (ω)}).

According to some aspects, disclosed is a mobile device to generate a gyroscope bias, the mobile device comprising: an inertial measurement unit comprising an accelerometer and a gyroscope; a Global Navigation Satellite Systems receiver (GNSS receiver); a processor coupled to the inertial measurement unit and the GNSS receiver; and memory coupled to the processor, comprising code for: receiving a GNSS heading (H_GNSS); receiving gyroscope measurements ({right arrow over (ω)}); and computing the gyroscope bias based on the GNSS heading (H_GNSS) and the gyroscope measurements ({right arrow over (ω)}).

According to some aspects, disclosed is a mobile device to generate a gyroscope bias, the mobile device comprising: means for receiving a GNSS heading (H_GNSS); means for receiving gyroscope measurements ({right arrow over (ω)}); and means for computing the gyroscope bias based on the GNSS heading (H_GNSS) and the gyroscope measurements ({right arrow over (ω)}).

According to some aspects, disclosed is a method in a mobile device for detecting cradle rotation, the method comprising: determining the threshold (ω_max) based on a GNSS magnitude (∥{right arrow over (V)}∥); comparing an angular rotation rate (∥{right arrow over (ω)}∥) to a threshold (ω_max); and determining a cradle rotation state based on the comparison.

According to some aspects, disclosed is a mobile device to detect cradle rotation, the mobile device comprising: an inertial measurement unit comprising an accelerometer and a gyroscope; a Global Navigation Satellite Systems receiver (GNSS receiver); a processor coupled to the inertial measurement unit and the GNSS receiver; and memory coupled to the processor, comprising code for: determining the threshold (ω_max) based on a GNSS magnitude (∥{right arrow over (V)}∥); comparing an angular rotation rate (∥{right arrow over (ω)}∥) to a threshold (ω_max); and determining a cradle rotation state based on the comparison.

According to some aspects, disclosed is a mobile device to detect cradle rotation, the mobile device comprising: means for determining the threshold (ω_max) based on a GNSS magnitude (∥{right arrow over (V)}∥); means for comparing an angular rotation rate (ω_max) to a threshold (ω_max); and means for determining a cradle rotation state based on the comparison.

It is understood that other aspects will become readily apparent to those skilled in the art from the following detailed description, wherein it is shown and described various aspects by way of illustration. The drawings and detailed description are to be regarded as illustrative in nature and not as restrictive.

BRIEF DESCRIPTION OF THE DRAWING

Embodiments of the invention will be described, by way of example only, with reference to the drawings.

FIG. 1 illustrates a GNSS system and a side view of a car with a mounted mobile device.

FIG. 2 shows a top view illustrating differences among headings from various sources.

FIG. 3 shows a block diagram of a mobile device, in accordance with some embodiments of the present invention.

FIG. 4 shows gravity vectors with respect to a mobile device, in accordance with some embodiments of the present invention.

FIG. 5 is a block diagram of a mount state detector, in accordance with some embodiments of the present invention.

FIG. 6 is a block diagram of a unit to compute a variance.

FIGS. 7-10 are block diagrams of other mount state detectors, in accordance with some embodiments of the present invention.

FIGS. 11 and 12 show two orientations of a mobile device 100.

FIG. 13 shows a mount state detector, in accordance with some embodiments of the present invention.

FIGS. 14 and 15 show block diagrams of units to compute an improved heading, in accordance with some embodiments of the present invention.

FIG. 16 illustrates a projection used in a virtual gyroscope, in accordance with some embodiments of the present invention.

FIG. 17 is a block diagram of a heading filter, in accordance with some embodiments of the present invention.

FIGS. 18 and 19 show a relationship between a weighting factor and a duration of integration.

FIGS. 20, 21, 22 and 23 illustrate a method for computing an improved velocity, in accordance with some embodiments of the present invention.

FIG. 24 shows a method for generating a gyroscope bias, in accordance with some embodiments of the present invention.

FIG. 25 is a block diagram of a cradle rotation detector, in accordance with some embodiments of the present invention.

DETAILED DESCRIPTION

The detailed description set forth below in connection with the appended drawings is intended as a description of various aspects of the present disclosure and is not intended to represent the only aspects in which the present disclosure may be practiced. Each aspect described in this disclosure is provided merely as an example or illustration of the present disclosure, and should not necessarily be construed as preferred or advantageous over other aspects. The detailed description includes specific details for the purpose of providing a thorough understanding of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form in order to avoid obscuring the concepts of the present disclosure. Acronyms and other descriptive terminology may be used merely for convenience and clarity and are not intended to limit the scope of the disclosure.

Position determination techniques described herein may be implemented in conjunction with various wireless communication networks such as a wireless wide area network (WWAN), a wireless local area network (WLAN), a wireless personal area network (WPAN), and so on. The term “network” and “system” are often used interchangeably. A WWAN may be a Code Division Multiple Access (CDMA) network, a Time Division Multiple Access (TDMA) network, a Frequency Division Multiple Access (FDMA) network, an Orthogonal Frequency Division Multiple Access (OFDMA) network, a Single-Carrier Frequency Division Multiple Access (SC-FDMA) network, Long Term Evolution (LTE), and so on. A CDMA network may implement one or more radio access technologies (RATs) such as cdma2000, Wideband-CDMA (W-CDMA), and so on. Cdma2000 includes IS-95, IS-2000, and IS-856 standards. A TDMA network may implement Global System for Mobile Communications (GSM), Digital Advanced Mobile Phone System (D-AMPS), or some other RAT. GSM and W-CDMA are described in documents from a consortium named “3rd Generation Partnership Project” (3GPP). Cdma2000 is described in documents from a consortium named “3rd Generation Partnership Project 2” (3GPP2). 3GPP and 3GPP2 documents are publicly available. A WLAN may be an IEEE 802.11x network, and a WPAN may be a Bluetooth network, an IEEE 802.15x, or some other type of network. The techniques may also be implemented in conjunction with any combination of WWAN, WLAN and/or WPAN.

A satellite positioning system (SPS) typically includes a system of transmitters positioned to enable entities to determine their location on or above the Earth based, at least in part, on signals received from the transmitters. Such a transmitter typically transmits a signal marked with a repeating pseudo-random noise (PN) code of a set number of chips and may be located on ground based control stations, user equipment and/or space vehicles. In a particular example, such transmitters may be located on Earth orbiting satellite vehicles (SVs). For example, a SV in a constellation of Global Navigation Satellite System (GNSS) such as Global Positioning System (GPS), Galileo, GLONASS or Compass may transmit a signal marked with a PN code that is distinguishable from PN codes transmitted by other SVs in the constellation (e.g., using different PN codes for each satellite as in GPS or using the same code on different frequencies as in GLONASS). In accordance with certain aspects, the techniques presented herein are not restricted to global systems (e.g., GNSS) for SPS. For example, the techniques provided herein may be applied to or otherwise enabled for use in various regional systems, such as, e.g., Quasi-Zenith Satellite System (QZSS) over Japan, Indian Regional Navigational Satellite System (IRNSS) over India, Beidou over China, etc., and/or various augmentation systems (e.g., an Satellite Based Augmentation System (SBAS)) that may be associated with or otherwise enabled for use with one or more global and/or regional navigation satellite systems. By way of example but not limitation, an SBAS may include an augmentation system(s) that provides integrity information, differential corrections, etc., such as, e.g., Wide Area Augmentation System (WAAS), European Geostationary Navigation Overlay Service (EGNOS), Multi-functional Satellite Augmentation System (MSAS), GPS Aided Geo Augmented Navigation or GPS and Geo Augmented Navigation system (GAGAN), and/or the like. Thus, as used herein an SPS may include any combination of one or more global and/or regional navigation satellite systems and/or augmentation systems, and SPS signals may include SPS, SPS-like, and/or other signals associated with such one or more SPS.

As used herein, a mobile device 100, sometimes referred to as a mobile station (MS) or user equipment (UE), such as a cellular phone, mobile phone or other wireless communication device, personal communication system (PCS) device, personal navigation device (PND), Personal Information Manager (PIM), Personal Digital Assistant (PDA), laptop or other suitable mobile device which is capable of receiving wireless communication and/or navigation signals. The term “mobile station” is also intended to include devices which communicate with a personal navigation device (PND), such as by short-range wireless, infrared, wireline connection, or other connection—regardless of whether satellite signal reception, assistance data reception, and/or position-related processing occurs at the device or at the PND. Also, “mobile station” is intended to include all devices, including wireless communication devices, computers, laptops, etc. which are capable of communication with a server, such as via the Internet, WiFi, or other network, and regardless of whether satellite signal reception, assistance data reception, and/or position-related processing occurs at the device, at a server, or at another device associated with the network. Any operable combination of the above are also considered a “mobile station.”

FIG. 1 illustrates a satellite positioning system (SPS) and a side view of a car 10 with a mobile device 100 mounted in a cradle. A user may place a mobile device 100 in a cradle fixed to the car 10 or other vehicle to assist the user with navigation while traveling in the car 10. The mobile device 100 acts as a hands-free device, may display local maps and may present audio and visual routing information.

The mobile device 100 may use GNSS signals received from GNSS satellites 99 in the satellite positioning system (SPS) as well as local sensor data to estimate a current position, velocity or heading of the car 10 within a horizontal plane. This horizontal plane may be defined as the X-Y plane perpendicular to the gravity vector ({right arrow over (g)}), which forms the Z-axis ({circumflex over (z)}). The X-axis ({circumflex over (x)}) may be defined as the direction the car 10 is facing and the Y-axis (ŷ) (not shown) may be the yaw or lateral direction perpendicular to both the forward direction ({circumflex over (x)}) and the gravity vector ({right arrow over (g)}) in the vertical direction ({circumflex over (z)}).

The X, Y, and Z-axes represent a reference system local ({circumflex over (x)}, ŷ, {circumflex over (z)}), which is local to the car 10. The global reference system may be represented by longitude and latitude or by longitude, latitude and elevation. GNSS data is generated with respect to the global reference system. A third reference system is the body reference system, which is defined relative to the body of the mobile device 100. Sensor data is generated in the body reference system by sensors within the mobile device 100.

Motion of the car 10 may be restricted using non-holonomic constraints in the local reference system. That is, the mobile device 100 may place bounds on the car's possible movement by restricting movement of the car 10 along the X-axis.

FIG. 2 shows a top view illustrating differences among headings from various sources. A first heading (car heading H_{{circumflex over (x)}} along {circumflex over (x)}) is defined by the direction the car 10 is heading or facing. In other words, the first heading is a car heading (H_{{circumflex over (x)}}) defined by the X-axis in the local reference system.

A second heading is a GNSS heading (H_GNSS) defined by signals from a GNSS receiver 140. The second heading may be extracted from the GNSS velocity ({right arrow over (V)}_GNSS), which may be defined as a heading and a speed.

A third heading (H_Gyro) is from a gyroscope 130.

The various headings in an ideal world are be identical. In the real world, however, these three headings are derived from different sources and over different periods; therefore, these three headings are often similar but distinct from one another. A fourth heading is an improved heading (Ĥ), which is a weighted combination of two or more of these three headings and is in the direction of an improved velocity ({circumflex over (V)}) discussed in more detail below.

Each heading has both advantages and disadvantages. The car heading (H_{{circumflex over (x)}}) is simple to determine but may only be correct for an instant or have an inherent bias. The GNSS heading (H_GNSS) is accurate over the long term but less inaccurate over the short term. The gyroscope heading (H_Gyro) may be accurate over the short term but inaccurate over the long term because of accumulated error. Two or three of the headings may be restricted (e.g., using non-holonomic constraints) and combined to form the improved heading (Ĥ), which attempts to combine the advantages of the individual headings while masking their disadvantages.

FIG. 3 shows a block diagram of a mobile device, in accordance with some embodiments of the present invention. The mobile device 100 includes sensors 110, also referred to as an inertial measurement unit (IMU). In this case, the sensors 110 include both an accelerometer 120 and a gyroscope 130. Both the accelerometer 120 and the gyroscope 130 may be devices generating three-dimensional measurements.

The mobile device 100 also includes a GNSS receiver 140, a processor 150 and possible a display 160. The processor 150 receives data from the accelerometer 120 in the form of three-dimensional accelerometer measurements ({right arrow over (a)}) referenced to the body reference system. The processor 150 receives from the gyroscope 130 an angular rate ({right arrow over (ω)}), which identifies an angular change from a previous measurement. The angular rate ({right arrow over (ω)}) is also a three-dimensional measurement referenced to the body reference system.

The GNSS receiver 140 provides a GNSS heading ( H), which may be a scalar value referenced to North (0°). The processor 150 may include memory containing the code to execute the methods described herein. Alternatively, this memory may be externally located from the processor 150. The display 160 is coupled to the processor and may be used to present map, routing information and directional information to the user. The mobile device 100 may also include a speaker for audio commands.

FIG. 4 shows gravity vectors with respect to a mobile device, in accordance with some embodiments of the present invention. When a user enters a car 10, the user may mount the mobile device 100 to a cradle or other mounting structure fixed to the car 10, for example, within the first 20 seconds. The cradle provides a fixed relationship between the body reference system of the mobile device 100 and the local reference system of the car 10. Normally, a relative orientation between the mobile device 100 and the car 10 does not change over time while the mobile device 100 is mounted in the cradle. The fixed relationship may be disturbed by a user, for example, readjusting the mobile device 100 to obtain a better viewing angle.

When the mobile device 100 is positioned in the cradle, the accelerometer 120 and the gyroscope 130 generate data directly corresponding to movement of the car 10. On the other hand, when the mobile device 100 is in a user's pocket, jacket or purse, the sensors 110 generate data only correlated to but not identical to movements of the car 10. The figure shows an example when a gravitational vector ({right arrow over (g)}) changes between a first time (k) and a second time (k−1). If mounted, the computed gravitational vector only changes within an error threshold.

If the computed gravitational vector changes from a first gravitation ({right arrow over (g)}(k−1)) to a second gravitation ({right arrow over (g)}(k)) greater than a threshold amount, the processor 150 may declare the mobile device 100 is not in a mounted state (if this variation changes continuously with time) or rotated within the cradle (if this variation settles on a first gravitation vector then settles on a second gravitation vector). If the processor 150 determines the mobile device 100 is not mounted, then measurements from the sensor 110 will not be directly associated with movements of the car 10

FIG. 5 is a block diagram of a mount state detector, in accordance with some embodiments of the present invention. This process 200 determines two or more variances from difference sequences of variables. The example here shows five variances, however, some embodiments may only use just two, three or four of these variances. For example, an embodiment may use only one acceleration-based variance (e.g., a variance of {right arrow over (a)} or {right arrow over (a)}_AVG) and one gyroscope-based variance (e.g., a variance of {right arrow over (ω)} or ω_X, ω_Y, ω_Z). Another embodiment may use only an averaged acceleration variance (e.g., a variance of {right arrow over (a)}_AVG) and one gyroscope-based variance (e.g., a variance of {right arrow over (ω)}).

The sequence of variables include: (1) a three-dimensional accelerometer measurement ({right arrow over (a)}); (2) an averaged three-dimensional accelerometer measurement ({right arrow over (a)}_AVG); (3) a three-dimensional gyroscope measurement ({right arrow over (ω)}); (4) a three-dimensional gyroscope measurement treated as three separate channels providing three separate scalar values (ω_X, ω_Y, ω_Z); and (5) a virtual heading rate ({dot over ( H). The first three streams each result in one variance value per time index and the fourth stream results in three variance values per time index.

At step 210, the processor 150 receives accelerometer measurements ({right arrow over (a)}(k)) from the accelerometer 120, which may be provided to step 220, step 240 and/or step 270 as measurements ({right arrow over (a)}). Alternatively, the three-dimensional accelerometer measurements ({right arrow over (a)}(k)) may be provided as one, two or three scalar values (a_X, a_Y, a_Z or a_X(k),a_Y(k), a_Z(k)) where {right arrow over (a)}(k)=a_X(k){circumflex over (x)}+a_Y(k)ŷ+a_Z(k){circumflex over (z)} in the body reference system. The accelerometer measurements ({right arrow over (a)}) may be represented as a temporal sequence a values:

{right arrow over (a)}(k),{right arrow over (a)}(k−1),{right arrow over (a)}(k−2),{right arrow over (a)}(k−3),{right arrow over (a)}(k−4), . . .

At step 220, the processor 150 performs an average of a window of n previous measurements, if needed. For example:

${\overrightarrow{a}}_{\mathrm{AVG}}\left(k\right)=\frac{1}{n}\sum _{i=0}^{n-1}\overrightarrow{a}\left(k-i\right)$

The three-dimensional averaged accelerometer measurements ({right arrow over (a)}_AVG) may be represented as a temporal sequence a values:

{right arrow over (a)} _AVG(k),{right arrow over (a)}_AVG(k−1),{right arrow over (a)}_AVG(k−2),{right arrow over (a)}_AVG(k−3),{right arrow over (a)}_AVG(k−4), . . .

At step 230, the processor 150 receives gyroscope measurements ({right arrow over (a)}(k)) from the gyroscope 130, which may also be provided to step 220, step 240 and/or step 270, either as three-dimensional gyroscope measurements (65) or as the three separate channels (ω_X, ω_Y, ω_Z). The three-dimensional gyroscope measurements (65) may be represented in time as:

{right arrow over (ω)}(k),{right arrow over (ω)}(k−1),{right arrow over (ω)}(k−2),{right arrow over (ω)}(k−3),{right arrow over (ω)}(k−4), . . .

The three separate channels (ω_X, ω_Y, ω_Z) may be represented in time as:

ω_X(k),ω_X(k−1),ω_X(k−2),ω_X(k−3),ω_X(k−4), . . . ,

ω_Y(k),ω_Y(k−1),ω_Y(k−2),ω_Y(k−3),ω_Y(k−4), . . . and

ω_Z(k),ω_Z(k−1),ω_Z(k−2),ω_Z(k−3),ω_Z(k−4), . . .

At step 270, the magnitude portion of the input value is passed as an output value to step 240. The processor 150 computes a magnitude from an input vector {right arrow over (v)}(k) or input scalar v(k) as an output scalar ∥{right arrow over (v)}(k)∥ or |v(k)|. For streams of data comprising vectors, the processor 150 computes a magnitude and produces a scalar v(k), where the input data is {right arrow over (v)}(k)=v_X(k) {circumflex over (v)}+v_Y(k) ŷ+v_Z(k) {circumflex over (z)} (with respect to the body reference system) and the output data is v(k)=√{square root over (v_X(k)²+v_Y(k)²+v_Z(k)²)}{square root over (v_X(k)²+v_Y(k)²+v_Z(k)²)}{square root over (v_X(k)²+v_Y(k)²+v_Z(k)²)} (also with respect to the body reference system). For streams of data comprising scalars, the scalar values (a_X, a_Y, a_Z, ω_X, ω_Y, ω_Z) may undergo an absolute value operation (not shown) where, for example, v(k)=|v_X(k)|, where the output data is |v_X(k)| and the input scalar value is one or more of (a_X, a_Y, a_Z, ω_X, ω_Y, ω_Z). Output data may also be low pass filtered.

At step 240, the processor 150 receives one, two, three, four or five streams of input variables and computes a variance (σ²), based on an average acceleration (from step 220) or an average heading (from step 310), for each stream at each time k. The variances are computed as described with reference to the FIG. 6 described below. This step computes a sequence of output variances corresponding to each set of input variables. For example, the processor 150 represents: the sequence of variances (σ_a²) computed from the three-dimensional accelerometer measurements ({right arrow over (a)}) as σ_a²(k), σ_a²(k−1), σ_a²(k−2), σ_a²(k−3), σ_a²(k−4), . . . ; the sequence of variances (σ_a²) computed from the averaged three-dimensional accelerometer measurements ({right arrow over (a)}) as σ_a²(k), σ_a²(k−1), σ_a²(k−2), σ_a²(k−3), σ_a²(k−4), . . . ; the sequence of variances (σ_ω²) computed from the three-dimensional gyroscope measurements ({right arrow over (ω)}) as σ_ω²(k), σ_ω²(k−1), σ_ω²(k−2), σ_ω²(k−3), σ_ω²(k−4), . . . ; and the sequence of variances (σ_ω—X², σ_ω—Y², σ_ω—Z²) computed from the three separate channels (ω_X,ω_Y,ω_Z) as:

σ_ω—X²(k),σ_ω—X²(k−1),σ_ω—X²(k−2),σ_ω—X²(k−3),σ_ω—X²(k−4), . . . ,

σ_ω—Y²(k),σ_ω—Y²(k−1),σ_ω—Y²(k−2),σ_ω—Y²(k−3),σ_ω—Y²(k−4), . . . and

σ_ω—Z²(k),σ_ω—Z²(k−1),σ_ω—Z²(k−2),σ_ω—Z²(k−3),σ_ω—Z²(k−4), . . . .

At step 250, each of the computed variances is compared to a respective threshold to determine if any excessive linear or angular acceleration occurred. In some embodiments, a single variance exceeding the threshold triggers the processor 150 into declaring the mobile device 100 is not in a mounted state, as shown at step 260.

In other embodiments, a window of results is examined for each sequence of variances to determine if enough excessive events have occurred to declare the mobile device 100 is not in the mounted state. For example, if the variance of the acceleration measurements is greater than a fixed threshold for more than a predetermined number of times within a window of a predetermined length, then the processor 150 declares the mobile device 100 is not in the mounted state. This windowing may occur in parallel for each of the sequences of variances computed at step 240. In this case, any one of the sequence of variances exceeding its respective threshold by more than the predetermined number of times within the window can trigger the processor 150 to make the declaration of step 260 that the mobile device 100 is not in a mounted state.

Alternatively, or in addition to, the processor 150 may declare the mobile device 100 is in the mounted state or remains in a mounted state (not shown) based on variances not exceeding a respective threshold for more than a predetermined number of times over a window of a predetermined time. A hysteresis may be used to transition between the mounted and unmounted states.

Alternatively, the yes/no output of step 250 may be windowed such that a predetermined threshold number of decisions within a previous predetermined number of computations must be ‘yes’ in order for the declaration at step 260 to be made. For example, two or more out of the previous five determinations must be ‘yes’ before the declaration at step 260 is made to conclude the mobile device 100 is in a mounted state.

If the mobile device 100 is mounted, then the processor 150 assumes the body reference system is fixed with respect to the local reference system. In this case, the sensor measurements from sensor 110 in the body reference system directly represent movement of the car 10 in the local reference system, as well as the mobile device 100. That is, when processor 150 determines the mobile device 100 is mounted, the processor 150 may directly relate the two reference systems. When the processor 150 determines the mobile device 100 is not mounted, the processor 150 may disassociate the two reference systems.

FIG. 6 is a block diagram of a variances unit, which computes a variance (σ_v²). As described above, the processor 150 computes a variance at step 240 for each separate stream of data. At step 220 (FIG. 5), the processor 150 computes an average (v_AVG(k, n)) over a window. For example:

$v_{\mathrm{AVG}}\left(k,n\right)=\frac{1}{n}\sum _{i=0}^{n-1}v\left(k-i\right),$

where the window size is n samples and k is the current index to measurements from the accelerometer 120 or gyroscope 130.

At step 246, the processor 150 uses the vector value {right arrow over (v)}(k) or scalar value v(k) and/or the averaged value (v_AVG(k)) to compute a variance (σ_v²). The variance may be denoted as σ_v²=var{v(k)}. As a result, the processor 150 accepts one, two, three, four or five or more streams in parallel to produce as corresponding variance (σ_v²) for each stream.

FIGS. 7-10 are block diagrams of other mount state detectors, in accordance with some embodiments of the present invention. In FIG. 7, an angle θ(k), which represents an approximate instantaneous angle relative to gravity, is used to compute a variance (shown as σ_θ,a²) of a sequence of angles θ(k).

An accelerometer 120 provides accelerometer measurements {right arrow over (a)}(k) (from a 3-D accelerometer) or a_x(k), a_y(k), and/or a_z(k) (from a 1-D, 2-D or 3-D accelerometer). At step 210, the processor 150 receives the accelerometer measurements {right arrow over (a)}(k) from the accelerometer 120 and forwards a vector or one or more scalars for processing to step 220 and step 235. For example, the processor 150 may process one, two or three of the scalar components of the accelerometer measurements {right arrow over (a)}(k).

At step 220, the processor 150 computes a running or windowed average (e.g.,

${\overrightarrow{a}}_{\mathrm{AVG}}\left(k,n\right)=\frac{1}{n}\sum _{i=0}^{n-1}\overrightarrow{a}\left(k-i\right)),$

which represents a gravity vector {right arrow over (g)}. At step 235, the processor 150 computes a parameter p, which is an angle θ(k) between the averaged vector represented by the gravity vector {right arrow over (g)} and the current accelerometer measurement {right arrow over (a)}(k). For example, the angle is computed as:

$\theta \left(k\right)=\arccos \left(\frac{{\overrightarrow{a}}_{\mathrm{AVG}}\left(k,n\right)·\overrightarrow{a}\left(k\right)}{{\overrightarrow{a}}_{\mathrm{AVG}}\left(k,n\right)·\overrightarrow{a}\left(k\right)}\right).$

Step 235 presents angle θ(k) to step 240. At step 240 and based on angle θ(k), the processor 150 computes a variance σ², which represents a variance of the angle formed between the accelerometer measurements {right arrow over (a)}(k) and vector {right arrow over (g)}. At step 250, the processor 150 determines if this variance is greater than a threshold variance. If so, the mobile device 100 is probably not in a mounting device and at step 260, the processor 150 declares that the mobile device 100 is not in a mounted state.

In FIG. 8, an instantaneous magnitude (e.g., ∥{right arrow over (a)}(k)∥ or ∥{right arrow over (a)}_y(k)∥) is compared to a magnitude of an approximation of the gravity to form a variance σ_∥a∥². First, the accelerometer 120 provides accelerometer measurements {right arrow over (a)}(k) (from a 3-D accelerometer) or a_x(k), a_y(k) and/or a_z(k) (from a 1-D, 2-D or 3-D accelerometer). Next at step 210, the processor 150 receives the accelerometer measurements {right arrow over (a)}(k) and forwards a vector or one or more scalars for processing to step 270.

At step 270, the processor 150 determines a magnitude ∥{right arrow over (g)}∥ of the gravity vector {right arrow over (g)}, and determines a magnitude ∥{right arrow over (a)}(k)∥ the passed along accelerometer measurement {right arrow over (a)}(k) then passes the magnitude results to step 220 and step 240.

At step 220, the processor 150 determines an average (e.g.,

${\overrightarrow{a}}_{\mathrm{AVG}}\left(k,n\right)=\frac{1}{n}\sum _{i=0}^{n-1}\overrightarrow{a}\left(k-i\right)),$

which represents a magnitude of the gravity vector {right arrow over (g)}. At step 240, the processor 150 computes a variance σ_∥a∥² based on the magnitude ∥{right arrow over (a)}(k)∥ and the magnitude ∥{right arrow over (g)}∥. The resulting variance σ_∥a∥² represents a variance of the magnitude formed between the accelerometer measurements {right arrow over (a)}(k) and gravity vector {right arrow over (g)}.

At step 250, the processor 150 determines if this variance σ_∥a∥² is greater than a threshold variance. If so, the mobile device 100 is probably not in a mounting device, and at step 260, the processor 150 declares that mobile device 100 is not in a mounted state.

In FIG. 9, an angle θ(k) is shown, which represents an approximate instantaneous angle relative to a vehicle's rotation, is used to compute a variance of of a sequence of angles θ(k). The gyroscope 130 provides gyroscope measurements {right arrow over (ω)}(k) (from a 3-D gyroscope) or ω_x(k), ω_y(k) and/or ω_z(k) (from a 1-D, 2-D or 3-D gyroscope) to step 230. At step 230, the processor 150 receives the gyroscope measurements {right arrow over (ω)}(k) and forwards a vector or one or more scalars for processing. For example, the processor 150 may only collect one or two of the scalar components of the gyroscope measurements {right arrow over (ω)}(k).

At step 220, the processor 150 computes a running or windowed average (e.g.,

${\overrightarrow{\omega }}_{\mathrm{AVG}}\left(k,n\right)=\frac{1}{n}\sum _{i=0}^{n-1}\overrightarrow{\omega }\left(k-i\right)),$

which represents a turn rate or heading rate {dot over ( H of a vehicle. Alternatively, the method at step 310 (FIG. 14) described below may be used to form a heading rate {dot over ( H. At step 235, the processor 150 computes a parameter p, which is an angle θ(k) between the averaged vector (e.g., heading rate {dot over ( H) from step 220 and the current gyroscope measurement {right arrow over (ω)}(k) from step 230. For example:

$\theta \left(k\right)=\arccos \left(\frac{{\overrightarrow{\omega }}_{\mathrm{AVG}}\left(k,n\right)·\overrightarrow{\omega }\left(k\right)}{{\overrightarrow{\omega }}_{\mathrm{AVG}}\left(k,n\right)·\overrightarrow{\omega }\left(k\right)}\right).$

Based on the angle θ(k), at step 240, the processor 150 computes a variance σ_ω², which represents a variance of the angle formed between the gyroscope measurements {right arrow over (ω)}(k) and vehicle's heading rate {dot over ( H. At step 250, the processor 150 determines if this variance σ_ω² is greater than a threshold variance. If so, the mobile device 100 is probably not in a mounting device and at step 260, the processor 150 declares that the mobile device 100 is not in a mounted state.

In FIG. 10, an instantaneous magnitude (e.g., ∥{right arrow over (ω)}(k)∥) is compared to a magnitude of an approximation of the vehicle's turn rate to form a variance σ_{∥{right arrow over (ω)}∥}². First, the gyroscope 130 provides gyroscope measurements {right arrow over (ω)}(k) (from a 3-D gyroscope) or ω_x(k), ω_y(k) or ω_z(k) (from a 1-D, 2-D or 3-D gyroscope) to step 230. At step 230, the processor 150 receives the gyroscope measurements {right arrow over (ω)}(k) and forwards a vector or one or more scalars for processing.

At step 270, the processor 150 determines a magnitude of the rotation vector ∥{right arrow over (ω)}(k)∥ from the passed along gyroscope measurement {right arrow over (ω)}(k) then passes the results to step 220 and step 240.

As described above, at step 220, the processor 150 determines an average (e.g.,

${\overrightarrow{\omega }}_{\mathrm{AVG}}\left(k,n\right)=\frac{1}{n}\sum _{i=0}^{n-1}\overrightarrow{\omega }\left(k-i\right)),$

which represents a heading rate {dot over ( H. Also at step 270, the processor 150 determines a magnitude ∥{dot over ( H∥ of the heading rate vector.

At step 240, the processor 150 computes a variance σ_∥ω∥², which represents a variance of the magnitude formed between the gyroscope measurements {right arrow over (ω)}(k) and the heading rate {dot over ( H of the vehicle.

At step 250, the processor 150 determines if this variance σ_∥ω∥² is greater than a threshold variance. If so, the mobile device 100 is probably not in a mounting device and at step 260, the processor 150 declares that mobile device 100 is not in a mounted state.

FIGS. 11 and 12 show two orientations of a mobile device 100. The mobile device 100 in a first orientation is probably viewable (thus, possibly in a mounting apparatus) and in a second orientation is probably non-viewable (thus, probably not in a mounting apparatus).

In FIG. 11, a mobile device 100 is shown in a relatively upright position (e.g., an orientation of the mobile device 100 while it is mounted). A body reference system is shown where a Z-axis ({circumflex over (z)}) protrudes perpendicular to the display 160, an X-axis ({circumflex over (x)}) points to the left of the mobile device 100, and a Y-axis (ŷ) points up.

Also shown is a gravity axis ({right arrow over (g)}), which is relatively perpendicular (within a threshold angle) to the Z-axis ({circumflex over (z)}). If the angle θ is perpendicular to and within a threshold of the Z-axis ({circumflex over (z)}), then the mobile device 100 is probably standing upright (as shown) or is standing horizontally (with its face horizontal). Thus, a processor 150 may declare the mobile device 100 is in a mounted state when the gravity axis ({right arrow over (g)}) is relatively perpendicular (within a threshold angle) to the Z-axis ({circumflex over (z)}).

In FIG. 12, a mobile device 100 is shown in a relatively flat position (e.g., an orientation of the mobile device 100 while it is on a car seat). In this case, the gravity axis ({right arrow over (g)}) is relatively parallel (within a threshold angle) to the Z-axis ({circumflex over (z)}). If the angle θ is parallel, within a threshold, to the Z-axis ({circumflex over (z)}), then the mobile device 100 is probably lying flat. Thus, a processor 150 may declare the mobile device 100 is in a non-mounted state.

FIG. 13 shows a mount state detector 200, in accordance with some embodiments of the present invention. The mount state detector may accept two or more input values from the variance (from FIG. 7 and shown as σ_θ,a²), the 200 variance σ_∥a∥² (from FIG. 8), the variance (from FIG. 9 and shown as σ_θ,ω²), the variance σ_∥a∥² from FIG. 10), and the viewable orientation θ (from FIGS. 11 and 12).

At step 255, the processor 150 declares if the mobile device 100 is not in a mounted state. The processor 150 may declare the mobile is not in a mounted state if: (1) any one of the two or more input values declares the mobile device 100 is not in a mounted state; (2) a majority of the two or more input values declares the mobile device 100 is not in a mounted state; (3) all of the two or more input values declares the mobile device 100 is not in a mounted state; (4) a weighted combination of decisions from the two or more input values (e.g., based on detection accuracy) is greater than a threshold (e.g., 0.5); or (5) a weighted combination of the raw input values (e.g., based on detection accuracy) is greater than a threshold (e.g., 0.5).

FIGS. 14 and 15 show block diagrams of units to compute an improved heading, in accordance with some embodiments of the present invention.

In FIG. 14, the process provides a heading rate based on the accelerometer 123 and the gyroscope 130. As described above, the accelerometer 120 produces acceleration measurements ({right arrow over (a)}) and the gyroscope 130 produces angular rate measurements ({right arrow over (ω)}).

At step 305, the processor 150 computes a gravity vector ({right arrow over (g)}) based on a low pass filter of accelerometer measurements ({right arrow over (a)}). If the mobile device 100 is fixed in a mount and the car 10 is either stationary or moving at a constant velocity, the gravity vector stays constant or settles in on a constant value.

At step 310, the processor 150 computes a virtual gyroscope heading rate ({dot over (H)}_Gyro), which is based on the gravity vector ({right arrow over (g)}) and the angular rate measurements ({right arrow over (ω)}) from the gyroscope 130. The virtual gyroscope heading rate ({dot over (H)}_Gyro) is described in additional detail with reference to FIG. 16.

In FIG. 15, the process 300 combines various headings to compute the improved heading (Ĥ). As described above, the processor 150 produces a virtual gyroscope heading rate ({dot over (H)}_Gyro) using measurements from the accelerometer 120 and the gyroscope 130. The GNSS receiver 140 produces a GNSS heading (H_GNSS) and a time ΔT_GNSS between GNSS headings.

At step 320, a heading filter takes as input variables both the GNSS heading (H_GNSS) and the virtual gyroscope heading rate ({dot over (H)}_GNSS) to compute an improved heading (Ĥ). Step 320 is described below with reference to FIG. 17 in further detail.

FIG. 16 illustrates a projection used in a virtual gyroscope, in accordance with some embodiments of the present invention. At step 310 described above with reference to FIG. 14, the processor 150 converts the raw three-dimensional gyroscope measurements ({right arrow over (ω)}) to a one-dimensional virtual gyroscope heading rate ({dot over (H)}_Gyro), which is parallel to the gravity vector (ĝ) and represents a rate of change in yaw in the horizontal plane. The processor 150 computes the virtual gyroscope heading rate ({dot over (H)}_Gyro) by projecting the gyroscope measurements ({right arrow over (ω)}) onto the gravity vector. In other words, {dot over (H)}_Gyro=−{right arrow over (ω)}_{⊥{right arrow over (g)}}(k), where θ defines the angle between the two vectors ({right arrow over (ω)},{right arrow over (g)}).

The figure shows a gyroscope measurement ({right arrow over (ω)}) defining a first plane perpendicular to the gyroscope measurement ({right arrow over (ω)}). The figure also shows a gravity vector ({right arrow over (g)}) defining a second plane perpendicular to the gravity vector ({right arrow over (g)}). The gravity vector ({right arrow over (g)}) is derived from the accelerometer measurements ({right arrow over (ω)}). The projection of the gyroscope measurement ({right arrow over (ω)}) onto the gravity vector ({right arrow over (g)}) results in the virtual gyroscope heading rate ({dot over (H)}_Gyro) shown perpendicular to the second plane. The projection is defined as

${\stackrel{.}{H}}_{\mathrm{Gyro}}=-{\overrightarrow{\omega }}_{\perp g}\left(k\right)=-\frac{\overrightarrow{g}·\overrightarrow{\omega }}{\overrightarrow{g}}·\frac{\overrightarrow{g}}{\overrightarrow{g}}=-\overrightarrow{\omega }\cos \left(\theta \right)\frac{\overrightarrow{g}}{\overrightarrow{g}}.$

FIG. 17 is a block diagram of a heading filter, in accordance with some embodiments of the present invention. The heading filter 320, first described with reference to FIG. 15, receives the GNSS heading (H_GNSS(k)) and the virtual gyroscope heading rate ({dot over (H)}_Gyro(k)), processes and combines these two values, and then produces an improved heading (Ĥ(k)). The improved heading (Ĥ(k)) is formed by a weighted combination of headings derived from the GNSS receiver 140 and the gyroscope 130 as shown in FIGS. 14 and 15.

Mathematically, the improved heading (Ĥ(k)) may be represented by the formula:

Ĥ(k)=w·H_GNSS(k)+(1−w)[{circumflex over (H)}(k−1)+ΔT_GNSS·{dot over (H)}_Gyro(k)]

where the weighting w may be represented by:

$w=\frac{\left({\sigma }_{\hat{H}\left(k\right)}^2+\Delta T_{\mathrm{GNSS}}^2·{\sigma }_{{\stackrel{.}{H}}_{\mathrm{Gyro}}\left(k\right)}^2\right)}{\left({\sigma }_{H_{\mathrm{GNSS}}\left(k\right)}^2+{\sigma }_{\hat{H}\left(k\right)}^2+\Delta T_{\mathrm{GNSS}}^2·{\sigma }_{{\stackrel{.}{H}}_{\mathrm{Gyro}}\left(k\right)}^2\right)}$

where σ_Ĥ(k)² is the variance of the improved heading (Ĥ(k)), where σ_{{dot over (H)}Gyro(k)}² is the variance of the virtual gyroscope heading rate ({dot over (H)}_Gyro(k)) from step 310 derived from measurements from the gyroscope 130, where σ_HGNSS(k)² is the variance of the GNSS heading (H_GNSS(k)), and where ΔT_GNSS is the time separation between heading values from the GNSS receiver 140.

The heading filter 320 comprises a first amplifier 321 that weights the GNSS heading (H_GNSS(k)) by a weighing value (w) and feeds this first weighted heading (w·H_GNSS(k)) to a first input of a first summer 322, which produces the improved heading (Ĥ(k)). A second input of the first summer 322 is provided by a chain that begins with scaling the virtual heading rate ({dot over (H)}_Gyro(k)) by the time (ΔT_GNSS, which represents a time between heading samples) with product operator 323. The product is feds to a second summer 324 that is also fed by a delayed version (Ĥ(k−1)) of the improved heading (Ĥ(k)) from delay unit 325 labeled with z⁻¹. The resulting sum is weighted by a second amplifier 326 by a weighing value (1−w), which feeds the second input of the first summer 322. Typically, both weighting values (w and 1−w) range somewhere between zero and one and sum to one.

FIGS. 18 and 19 show a relationship between a weighting factor and a duration of integration. FIG. 18 shows an expected relationship between an integration time and an expected weighting factor. GNSS-based heading values (e.g., H_GNSS(k)) taken over a short duration have less certainty (or equivalently, more uncertainty) than GNSS-based heading values taken over a long duration because of long-term trends. Therefore, GNSS-based heading values are typically given a higher weighting if the duration is longer.

In FIG. 19, an example inverse relationship is shown between integration time and an expected weighing factor. Gyro-based heading values (e.g., from {dot over (H)}(k)) taken over a short duration have more certainty (or equivalently, less uncertainty) than gyro-based heading values taken over a long duration because of accumulated error. Therefore, gyro-based heading values are typically given a higher weighting if the duration is shorter.

FIGS. 20, 21, 22 and 23 illustrate a method for computing an improved velocity, in accordance with some embodiments of the present invention. In FIG. 20, a top view of a car 10 is shown. The car 10 travels along a first direction indicated as along the X-axis ({circumflex over (x)}) in the local reference system. The improved heading (Ĥ), which is a function of the GNSS heading (H_GNSS) and the virtual gyroscope heading rate), often faces in a direction different than X-axis. The improved velocity ({right arrow over (V)}_//Ĥ) is parallel to or collinear with the improved heading (Ĥ).

Similarly, the Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS), is parallel to or collinear with the Kalman-filtered GNSS heading ({right arrow over (H)}_GNSS) and is derived from the GNSS heading (H_GNSS). The improved velocity ({right arrow over (V)}_//Ĥ) has a direction component and a magnitude component. The direction of the improved velocity ({right arrow over (V)}_//Ĥ) may be formed by adopting the direction of the improved heading (Ĥ). The magnitude of the improved velocity ({right arrow over (V)}_//Ĥ) may be formed from a projection of the Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS) on the improved heading (Ĥ) thus

${\overrightarrow{V}}_{//\stackrel{.}{H}}=\frac{{\overrightarrow{V}}_{\mathrm{GNSS}}}{\cos \left(\theta \right)}\mathrm{\angle ang}\left(\hat{H}\right)$

where θ defines the angle formed between {right arrow over (V)}_GNSS and Ĥ, and ∠ang (Ĥ) is the angular direction of Ĥ.

In FIG. 21, another top view of a car 10 is shown similar to that described above and shown in FIG. 20 except the magnitude of the improved velocity) is calculated in an alternative fashion. As before, the improved velocity ({right arrow over (V)}_//Ĥ) includes a direction component formed by adopting the direction of the improved heading (Ĥ). In this alternative embodiment, the magnitude of the improved velocity ({right arrow over (V)}_//Ĥ) may be formed by keeping the magnitude of the Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS), thus {right arrow over (V)}_//Ĥ=∥{right arrow over (V)}_GNSS∥∠ang(Ĥ) where ∥{right arrow over (V)}_GNSS∥ the magnitude of {right arrow over (V)}_GNSS.

In comparing the methods of FIGS. 20 and 21, the former forms the improved velocity ({right arrow over (V)}_//Ĥ) using a formal mathematical projection on the improved heading (Ĥ), whereas the latter forms the improved velocity ({right arrow over (V)}_//Ĥ) by an informal projection (rotation) on the improved heading (Ĥ). Both of these methods are presented as projecting the Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS on the improved heading (Ĥ). The methods described above utilized the Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS). Alternative methods use a velocity ({right arrow over (V)}_GNSS-based) based on the GNSS heading ({right arrow over (H)}_GNSS), where the Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS) is an example of the GNSS based velocity ({right arrow over (V)}_GNSS-based).

The difference between the improved velocity ({right arrow over (V)}_//Ĥ) and the Kalman filtered GNSS velocity ({right arrow over (V)}_GNSS) (or generally, the GNSS based velocity ({right arrow over (V)}_GNSS-based)) forms a velocity error (Δ{right arrow over (V)}) which is fed back to the Kalman filter 410 as a correction signal. In this manner, the velocity error (Δ{right arrow over (V)}) is used by the Kalman filter 410 to improve future velocity estimates as described below.

In FIG. 22, the block diagram shows steps a processor 150 executes to generate an improved velocity ({right arrow over (V)}_//Ĥ) and a velocity error (Δ{right arrow over (V)}). At step 410, the processor 150 receives a GNSS velocity ({right arrow over (V)}_GNSS) from the GNSS receiver 140 and passes the GNSS velocity ({right arrow over (V)}_GNSS) through a Kalman filter to produce a Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS).

At step 420, the processor 150 projects the Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS) against the improved heading (Ĥ) to compute an improved velocity ({right arrow over (V)}_//Ĥ), which is parallel to the improved heading (Ĥ). Step 420 also computes the difference between the Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS) and the improved velocity vector ({right arrow over (V)}_//Ĥ) to generate the velocity error (Δ{right arrow over (V)}). As described above, the velocity error (Δ{right arrow over (V)}) is used by the Kalman filter 410 as a correction value to improve the next Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS). In essence, the velocity error (Δ{right arrow over (V)}) is determined using a non-holonomic constraint and is used to correct Kalman filter.

In FIG. 23, the block diagram shows another set of steps a processor 150 executes to generate an improved velocity ({right arrow over (V)}_//Ĥ) and a velocity error (Δ{right arrow over (V)}). At step 415, the processor 150 receives a GNSS velocity ({right arrow over (V)}_GNSS) from the GNSS receiver 140 and passes the GNSS velocity ({right arrow over (V)}_GNSS) through a position/velocity (PV) module to produce a PV filtered GNSS velocity ({right arrow over (V)}_GNSS).

Again, at step 420, the processor 150 projects the PV filtered GNSS velocity ({right arrow over (V)}_GNSS) against the improved heading (Ĥ) to compute an improved velocity ({right arrow over (V)}_//Ĥ), which is parallel to the improved heading (Ĥ). Again, step 420 computes the difference between the PV filtered GNSS velocity ({right arrow over (V)}_GNSS) and the improved velocity vector ({right arrow over (V)}_//Ĥ) to generate the velocity error (Δ{right arrow over (V)}). The velocity error (Δ{right arrow over (V)}) is used by the PV module 415 as a correction value to improve the next PV filtered GNSS velocity ({right arrow over (V)}_GNSS). The velocity error (Δ{right arrow over (V)}) is determined using a non-holonomic constraint and is used to correct Kalman filter.

FIG. 24 shows a method for generating a gyroscope bias, in accordance with some embodiments of the present invention. Mathematically, the gyroscope bias may be represented as:

$\mathrm{GyroscopeBias}={\stackrel{\stackrel{\_}{.}}{H}}_{\mathrm{Gyro},\mathrm{CORR}}\left(k\right)-\frac{\left[\Delta H_{\mathrm{GNSS}}\left(k\right)\right]}{\Delta T_{\mathrm{GNSS}}}$ $\mathrm{where}\left[\Delta H_{\mathrm{GNSS}}\left(k\right)\right]=H_{\mathrm{GNSS}}\left(k\right)-H_{\mathrm{GNSS}}\left(k-n+1\right)$ $\mathrm{and}\mathrm{where}$ ${\stackrel{.}{H}}_{\mathrm{Gyro},\mathrm{CORR}}\left(k\right)=\frac{1}{n}\sum _{i=0}^{n-1}{\stackrel{.}{H}}_{\mathrm{Gyro}}\left(k-i\right).$

At step 510, the processor 150 receives a GNSS heading (H(k)) from the GNSS receiver 140 and computes a GNSS heading change over a window ([ΔH_GNSS(k)]). At step 520, the processor 150 converts the GNSS heading change (ΔH_GNSS) from a heading to a rate by scaling or dividing by a negative of the GNSS time difference (−ΔT_GNSS) to form a GNSS heading rate (− H_GNSS), which is fed as a first input to a first summer 530. A second input of the first summer 530 is fed an average of the virtual gyroscope heading rate ({dot over (H)}_Gyro,CORR(k)) and the sum of these two inputs (or equivalently, a differences between the two average rates) forms the gyroscope bias signal (GyroscopeBias).

The processor 150 forms the average gyroscope heading rate ({dot over (H)}_Gyro,CORR(k)) from a chain beginning at step 310 of FIG. 14, which receives the gyroscopic measurements ({right arrow over (ω)}) and computes a virtual gyroscope heading rate ({dot over (H)}_Gyro) as described above. The virtual gyroscope heading rate ({dot over (H)}_Gyro) is fed to a second summer 540 as a first input. A second input to the second summer 540 may be feedback as a preliminary gyroscope bias, which may be set by the previously determined gyroscope bias, where Gyroscope Correction=−GyroscopeBias(error). The second summer 540 produces a corrected gyroscope heading rate ({dot over (H)}_Gyro,CORR(k)={dot over (H)}_Gyro+GyroscopeBias). The processor 150 averages the corrected gyroscope heading rate ({dot over (H)}_Gyro,CORR(k) to form the average gyroscope heading rate ({dot over (H)}_Gyro,CORR(k)). A new gyroscope bias may be computed at each iteration k or after a predetermined number of iterations.

FIG. 25 is a block diagram of a cradle rotation detector, in accordance with some embodiments of the present invention. The process 600 begins at step 610 where the process 150 converts the Kalman-filtered GNSS velocity ({right arrow over (V)}_GNSS) to a magnitude (∥{right arrow over (V)}∥=∥{right arrow over (V)}_GNSS∥).

At step 620, the processor 150 compares the magnitude (∥{right arrow over (V)}∥) to a velocity threshold to show if the mobile device 100 is relatively still in its cradle or being rotated within the cradle by the user. Depending on the level of relative movement, a second threshold (ω_max) is set. When the processor 150 determines the mobile device 100 is still or moving below the threshold (at a value less than the magnitude threshold) with respect to the cradle, the second threshold (ω_max) is set based on a division of the magnitude (∥{right arrow over (V)}∥) and the minimum radius of curvature (R_min) expected of a car 10 as shown at step 630.

When the processor 150 determines the mobile device 100 is moving or rotating (at a value greater than the magnitude threshold) relative to the cradle, the second threshold (ω_max) is set based on a division of the maximum acceleration (a_max) expected of a car 10 and the magnitude (∥{right arrow over (V)}∥) as shown at step 640. Therefore, a selection of how the second threshold (ω_max) is set is based on whether the car 10 is nearly still

${\omega }_{\mathrm{ma}x}=\frac{\overrightarrow{V}}{R_{min}})$

or in motion

${\omega }_{\mathrm{ma}x}=\frac{a_{\mathrm{ma}x}}{\overrightarrow{V}}).$

At step 650, the processor 150 compares a magnitude of the angular rotation rate (∥{right arrow over (ω)}∥) from the gyroscope 130 to this second threshold (ω_max). If the magnitude of the angular rotation rate (∥{right arrow over (ω)}∥) is greater than the second threshold (ω_max) the processor 150 may take no interruptive acts and declare that the cradle has experienced no or insignificant cradle rotation, as shown at step 660. If the magnitude of the angular rotation rate (∥{right arrow over (ω)}∥) is less than the second threshold (ω_max), the processor 150 declares that the mobile device 100 has recently been moved within the cradle as shown at step 670.

At step 680, the processor 150 may de-weight any results that are based on measurements from the sensor 110 until the relative orientation between the local reference system of the car 10 and the body reference system of the mobile device 100 may be reassessed. As an alternative to de-weighting results, the processor 150 may bar the use of sensor measurements altogether and reset any ongoing computation until the relative position of the mobile device 100 in the cradle or mount may be determined again.

The methodologies described herein may be implemented by various means depending upon the application. For example, these methodologies may be implemented in hardware, firmware, software, or any combination thereof. For a hardware implementation, the processing units may be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or a combination thereof.

For a firmware and/or software implementation, the methodologies may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. Any machine-readable medium tangibly embodying instructions may be used in implementing the methodologies described herein. For example, software codes may be stored in a memory and executed by a processor unit. Memory may be implemented within the processor unit or external to the processor unit. As used herein the term “memory” refers to any type of long term, short term, volatile, nonvolatile, or other memory and is not to be limited to any particular type of memory or number of memories, or type of media upon which memory is stored.

If implemented in firmware and/or software, the functions may be stored as one or more instructions or code on a computer-readable medium. Examples include computer-readable media encoded with a data structure and computer-readable media encoded with a computer program. Computer-readable media includes physical computer storage media. A storage medium may be any available medium that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer; disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

In addition to storage on computer readable medium, instructions and/or data may be provided as signals on transmission media included in a communication apparatus. For example, a communication apparatus may include a transceiver having signals indicative of instructions and data. The instructions and data are configured to cause one or more processors to implement the functions outlined in the claims. That is, the communication apparatus includes transmission media with signals indicative of information to perform disclosed functions. At a first time, the transmission media included in the communication apparatus may include a first portion of the information to perform the disclosed functions, while at a second time the transmission media included in the communication apparatus may include a second portion of the information to perform the disclosed functions.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the spirit or scope of the disclosure.

Claims

1. A method in a mobile device for providing an improved heading, the method comprising: receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer;receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope;receiving a GNSS heading (HGNSS) from a GNSS receiver;computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); andcombining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form the improved heading.

2. The method of claim 1, wherein computing the virtual gyroscope heading rate ({dot over (H)}Gyro) comprises computing the virtual gyroscope heading rate ({dot over (H)}Gyro) from a projection of the gyroscope measurement ({right arrow over (ω)}) to the gravity vector ({right arrow over (g)}).

3. The method of claim 1, wherein combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) comprises combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) using a weighting factor.

4. A mobile device to provide an improved heading, the mobile device comprising: an inertial measurement unit comprising an accelerometer and a gyroscope;a Global Navigation Satellite Systems receiver (GNSS receiver);a processor coupled to the inertial measurement unit and the GNSS receiver; andmemory coupled to the processor, comprising code for: receiving an accelerometer measurement ({right arrow over (a)}) from the accelerometer;receiving a gyroscope measurement ({right arrow over (ω)}) from the gyroscope;receiving a GNSS heading (HGNSS) from the GNSS receiver;computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); andcombining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form the improved heading.

5. The mobile device of claim 4, wherein computing the virtual gyroscope heading rate ({dot over (H)}Gyro) comprises computing the virtual gyroscope heading rate ({dot over (H)}Gyro) from a projection of the gyroscope measurement ({right arrow over (ω)}) to the gravity vector ({right arrow over (g)}).

6. The mobile device of claim 4, wherein combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) comprises combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) using a weighting factor.

7. A mobile device to provide an improved heading, the mobile device comprising: means for receiving an accelerometer measurement ({right arrow over (a)});means for receiving a gyroscope measurement ({right arrow over (ω)});means for receiving a GNSS heading (HGNSS);means for computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});means for computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based a projection of the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); andmeans for combining the GNSS heading (HGNSS) and virtual gyroscope heading rate

8. The mobile device of claim 7, wherein the means for computing the virtual gyroscope heading rate ({dot over (H)}Gyro) comprises means for computing the virtual gyroscope heading rate ({dot over (H)}Gyro) from a projection of the gyroscope measurement ({right arrow over (ω)}) to the gravity vector ({right arrow over (g)}).

9. The mobile device of claim 7, wherein the means for combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) comprises means for combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) using a weighting factor.

10. A device comprising a processor and a memory wherein the memory includes software instructions for: receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer;receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope;receiving a GNSS heading (HGNSS) from a GNSS receiver;computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based on a projection of the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); andcombining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form the improved heading.

11. A non-volatile computer-readable storage medium including program code stored thereon, comprising program code for: receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer;receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope;receiving a GNSS heading (HGNSS) from a GNSS receiver;computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)}); andcombining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form the improved heading.

12. A method in a mobile device for providing an improved velocity, the method comprising: receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer;receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope;receiving a GNSS velocity ({right arrow over (V)}GNSS) comprising a GNSS heading ({right arrow over (H)}GNSS) from a GNSS receiver;computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based on a projection of the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)});combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form an improved heading (Ĥ); andcomputing the improved velocity from the improved heading (Ĥ).

13. The method of claim 12, wherein computing the virtual gyroscope heading rate ({dot over (H)}Gyro) comprises computing the virtual gyroscope heading rate ({dot over (H)}Gyro) from a projection of the gyroscope measurement ({right arrow over (ω)}) to the gravity vector ({right arrow over (g)}).

14. The method of claim 12, wherein combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form an improved heading (Ĥ) comprises combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) using weighting factors.

15. The method of claim 12, further comprising: computing a velocity ({right arrow over (V)}GNSS-based) based on the GNSS velocity ({right arrow over (V)}GNSS); andprojecting the velocity ({right arrow over (V)}GNSS-based) on the improved heading (Ĥ).

16. The method of claim 12, further comprising: computing a GNSS velocity ({right arrow over (V)}GNSS-KF) from the GNSS velocity ({right arrow over (V)}GNSS) using a Kalman filter, wherein the velocity ({right arrow over (V)}GNSS-based) is the GNSS velocity ({right arrow over (V)}GNSS-KF); andprojecting the Kalman-filtered GNSS velocity ({right arrow over (V)}GNSS-KF) on the improved heading (Ĥ).

17. The method of claim 12, further comprising: feeding an error signal, based a difference between the Kalman-filtered GNSS velocity ({right arrow over (V)}GNSS-KF) and the GNSS velocity ({right arrow over (V)}GNSS) to the Kalman filter as a correction signal.

18. A mobile device to provide an improved velocity, the mobile device comprising: an inertial measurement unit comprising an accelerometer and a gyroscope;a Global Navigation Satellite Systems receiver (GNSS receiver);a processor coupled to the inertial measurement unit and the GNSS receiver; andmemory coupled to the processor, comprising code for: receiving an accelerometer measurement ({right arrow over (a)}) from the accelerometer;receiving a gyroscope measurement ({right arrow over (ω)}) from the gyroscope;receiving a GNSS velocity ({right arrow over (V)}GNSS) comprising a GNSS heading ({right arrow over (H)}GNSS) from the GNSS receiver;computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)});combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form an improved heading (Ĥ); andcomputing the improved velocity from the improved heading (Ĥ).

19. A mobile device to provide an improved velocity, the mobile device comprising: means for receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer;means for receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope;means for receiving a GNSS velocity ({right arrow over (V)}GNSS) comprising a GNSS heading ({right arrow over (H)}GNSS) from a GNSS receiver;means for computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});means for computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)});means for combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form an improved heading (Ĥ); andmeans for computing the improved velocity from the improved heading (Ĥ).

20. A device comprising a processor and a memory wherein the memory includes software instructions for: receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer;receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope;receiving a GNSS velocity ({right arrow over (V)}GNSS) comprising a GNSS heading ({right arrow over (H)}GNSS) from a GNSS receiver;computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)});combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form an improved heading (Ĥ); andcomputing an improved velocity from the improved heading (Ĥ).

21. A non-volatile computer-readable storage medium including program code stored thereon, comprising program code for: receiving an accelerometer measurement ({right arrow over (a)}) from an accelerometer;receiving a gyroscope measurement ({right arrow over (ω)}) from a gyroscope;receiving a GNSS velocity ({right arrow over (V)}GNSS) comprising a GNSS heading ({right arrow over (H)}GNSS) from a GNSS receiver;computing a gravity vector ({right arrow over (g)}) based on the accelerometer measurement ({right arrow over (a)});computing a virtual gyroscope heading rate ({dot over (H)}Gyro) based on the gyroscope measurement ({right arrow over (ω)}) and the gravity vector ({right arrow over (g)});combining the GNSS heading (HGNSS) and virtual gyroscope heading rate ({dot over (H)}Gyro) to form an improved heading (Ĥ); andcomputing an improved velocity from the improved heading (Ĥ).