Method and Apparatus for Handling Vertical Orientations of Devices for Constraint Free Portable Navigation

摘要

The present disclosure relates to a method and apparatus for enhancing a navigation solution of a device within a platform (such as for example person, vehicle or vessel), wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the device can be tilted to any orientation including vertical or near vertical orientations, while still providing a seamless navigation solution. This method can enhance navigation solutions utilizing measurements from sensors (such as, for example, accelerometers, gyroscopes, magnetometers, etc.), whether in the presence or in the absence of absolute navigational information (such as, for example, GNSS or WiFi positioning).

主权项

1. A method of detecting a transition in the forward axis of a device, wherein mobility of the device may be constrained or unconstrained within a platform and the device can be tilted to any orientation, including vertical or near vertical orientations, said device having sensors capable of providing sensor readings, said sensors have a corresponding axes frame and said readings having error parameters, wherein the transition involves a vertical or near vertical orientation, and, where the transition is detected, updating the axes frame, changing the sensor readings and error parameters according to the updated axes frame, and adjusting the estimated orientation of the device according to the updated axes frame.