| 摘要 |
PROBLEM TO BE SOLVED: To provide an apparatus and method for realizing heading direction estimate of a mobile device in a vehicle.SOLUTION: A mobile device determines if it is mounted on a cradle attached to a vehicle. If mounted, the mobile device determines whether or not it has been rotated in the cradle; if rotated, inertia sensor data may no longer be reliable and recalibration is needed to determine a new relative orientation between the vehicle and the mobile device. If the mobile device is mounted and not recently rotated, pieces of heading direction data from multiple sensors (e.g., GPS, gyroscope, accelerometer) are computed and combined to form improved heading direction estimate. The improved heading direction estimate is also used to compute a bias to correct a gyroscope. |
