| 摘要 |
The present disclosure relates to a method and apparatus for determining the misalignment between a device and a platform (such as for example a vessel or vehicle) using acceleration and/or deceleration of the platform, wherein the device can be strapped or non-strapped to the platform, wherein in case of non-strapped the mobility of the device may be constrained or unconstrained within the platform. In case of non-strapped, the device may be moved or tilted to any orientation within the platform and still provide a seamless navigation solution without degrading the performance of this navigation solution. When the device is in a holder in the platform, it is still considered non-strapped, as it may move with respect to the platform. The present method can utilize measurements (readings) from sensors (such as for example, accelerometers, odometer/wheel encoders, gyroscopes, etc.) whether in the presence or in the absence of navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning). |
