SYSTEM AND METHOD FOR DEVICE BEARING ESTIMATION

摘要

A processing apparatus determines an estimated direction of motion of an entity physically associated with a device having a plurality of sensors for generating an estimate of a navigational state of the device. The estimated direction of motion is based at least in part on a device-to-frame orientation corresponding to an orientation of the device relative to a predefined inertial frame of reference, and an estimated device-to-entity orientation corresponding to an orientation of the device relative to a direction of motion of the entity. In response to detecting a change in the device-to-frame orientation, the processing apparatus divides the change in the device-to-frame orientation between a change in the estimated direction of motion of the entity and a change in the estimated device-to-entity orientation, and updates the estimated direction of motion of the entity based on the division of the change in the device-to-frame orientation.

主权项

1. A method comprising:
at a processing apparatus having one or more processors and memory storing one or more programs that, when executed by the one or more processors, cause the respective processing apparatus to perform the method:
determining an estimated direction of motion of an entity physically associated with a device that has a plurality of sensors used to generate an estimate of a navigational state of the device based on sensor measurements from one or more of the plurality of sensors, wherein the estimated direction of motion of the entity is based at least in part on:
a device-to-frame orientation, wherein the device-to-frame orientation corresponds to an orientation of the device relative to a predefined inertial frame of reference; andan estimated device-to-entity orientation, wherein the device-to-entity orientation corresponds to an orientation of the device relative to a direction of motion of the entity;detecting a change in the device-to-frame orientation; andin response to detecting the change in the device-to-frame orientation:
dividing the change in the device-to-frame orientation between a change in the estimated direction of motion of the entity and a change in the estimated device-to-entity orientation; andupdating the estimated direction of motion of the entity based on the division of the change in the device-to-frame orientation between the change in the estimated direction of motion of the entity and the change in the estimated device-to-entity orientation.