Abstract: An apparatus and method are disclosed for enhancing a navigation solution of a portable device and a platform. Motion sensor data may be obtained corresponding to motion of the portable device, such that a first filter may be configured to output a navigation solution and at least one second filter may be configured to use the motion sensor data to generate at least one value. The at least one generated value may then be used with the first filter to enhance the navigation solution output by the first filter.

Abstract: Systems and methods are disclosed for categorizing a device use case for on foot motion with a portable device. Motion sensor data corresponding to motion of the portable device may be obtained, such as from a sensor assembly of the device. The motions sensor data is processed. Further, a use case characteristic may be determined from the processed and/or raw motion sensor data, an effective frequency may be determined from the processed and/or raw motion sensor data and/or an Eigen use case may be determined. The device use case may then be classified using the processed and/or raw motion sensor data and at least one of the use case characteristic, the effective frequency and the Eigen use case.

Abstract: The present disclosure relates to a method and system for estimating varying step length for on foot motion (such as for example walking or running). The present method and apparatus is able to be used in anyone or both of two different phases. In some embodiments, the first phase is used. In some other embodiments, the second phase is used. In a third group of embodiments, the first phase is used, and then the second phase is used. The first phase is a model-building phase done offline to obtain the nonlinear model for the step length as a function of different parameters that represent human motion dynamics. A nonlinear system identification technique is used for building this model. In the second phase the nonlinear model is used to calculate the step length from the different parameters that represent human motion dynamics used as input to the model. These parameters are obtained from sensors readings from the sensors in the apparatus.

Abstract: The present disclosure relates to a method and apparatus for determining the misalignment between a device and a pedestrian, wherein the pedestrian can carry, hold, or use the device in different orientations in a constrained or unconstrained manner, and wherein the device comprises a sensor assembly. The sensors in the device may be for example, accelerometers, gyroscopes, magnetometers, barometer among others. The sensors have a corresponding frame for the sensors' axes. The misalignment between the device and the pedestrian means the misalignment between the frame of the sensor assembly in the device and the frame of the pedestrian. The present method and apparatus can work whether in the presence or in the absence of absolute navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).

Abstract: A method and apparatus for fast magnetometer calibration with little space coverage is described herein. The present method and apparatus is capable of performing both 2-dimensional (2D) and 3-dimensional (3D) calibration for a magnetometer (magnetic sensor) and calculating calibration parameters. The present method and apparatus does not need the user to be involved in the calibration process and there are no required specific movements that the user should perform. The present method and apparatus performs magnetometer calibration in 2D or 3D depending on the natural device movements whatever the application that the magnetometer is used in.

Abstract: 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).

Abstract: A method and apparatus for providing an enhanced navigation solution for cycling applications is described herein. The navigation solution is about a device within a platform, which is a cycling platform such as for example a bicycle, a tricycle, or a unicycle amongst others. The device can be in any orientation with respect to the platform (such as for example in any location or orientation on the body of the cyclist). The device includes a sensor assembly. The sensors in the device may be for example, accelerometers, gyroscopes, magnetometers, barometer among others. The present method and apparatus can work whether in the presence or in the absence of navigational information updates (such as, for example, Global Navigation Satellite System (GNSS) or WiFi positioning).

Abstract: A navigation module for providing a real-time INS/GNSS navigation solution for a moving object comprising a receiver for receiving absolute navigational information from an external source and an assembly of self-container sensors for generating navigational information. The module also contains a processor coupled to receive the output information from the receiver and sensor assembly, and integrate the output information in real-time to produce an overall navigation solution. The overall navigation solution will contain a main navigation solution task, and at least one other task, where the other task is used to enhance the overall navigation solution.

Abstract: A method and system for determining the mode of motion or conveyance of a device, the device being within a platform (e.g., a person, vehicle, or vessel of any type). The device can be strapped or non-strapped to the platform, and where non-strapped, the mobility of the device may be constrained or unconstrained within the platform and the device may be moved or tilted to any orientation within the platform, without degradation in performance of determining the mode of motion. This method can utilize measurements (readings) from sensors in the device (such as for example, accelerometers, 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). The present method and system may be used in any one or both of two different phases, a model building phase or a model utilization phase.

Abstract: Systems and methods are disclosed for determining a navigational constraint for a portable device using an optical sensor. The navigational constraint may be used to supplement other navigational solutions or may be used independently. The optical sensor may capture a plurality of samples to be processed to determine the constraint. Determining the constraint may include any or all of determining a context for usage, distinguishing usage modes, estimating an orientation of the portable device, determining an absolute and/or relative elevation, determining a direction of motion and determining a speed of the portable device from the samples.

Abstract: A navigation module and method for providing an INS/GNSS navigation solution for a moving platform, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), means for obtaining speed or velocity information and an assembly of self-contained sensors capable of obtaining readings (e.g., such as relative or non-reference based navigational information) about the moving platform, and further comprising at least one processor, coupled to receive the output information from the receiver, sensor assembly and means for obtaining speed or velocity information, and operative to integrate the output information to produce a navigation solution. The at least one processor may operate to provide a navigation solution by using the speed or velocity information to decouple the actual motion of the platform from the readings of the sensor assembly.

Abstract: A navigation module and method for providing an INS/GNSS navigation solution for a device that can either be tethered or move freely within a moving platform is provided, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), an assembly of self-contained sensors capable of obtaining readings (e.g. such as relative or non-reference based navigational information) about the device, and further comprising at least one processor, coupled to receive the output information from the receiver and sensor assembly, and operative to integrate the output information to produce an enhanced navigation solution. The at least one processor may operate to provide a navigation solution by benefiting from nonlinear models and filters that do not suffer from approximation or linearization and which enhance the navigation solution of the device.

Abstract: A two-filter based method of detecting and tracking a target that can track an unknown and time-varying number of targets, while keeping continuous track, even in scenarios with large number of false contacts or missing measurements, is provided. More specifically, a first filter provides target detection, a second filter provides target tracking of the detected targets, and a clustering technique that operates after the first filter. The first filter starts with a uniform distribution over the surveillance area and resets periodically after the clustering technique is run. When the clustering technique runs, it detects the clusters corresponding to the different targets and passes them to the second filter that tracks these targets.

Abstract: A navigation module and method for providing an INS/GNSS navigation solution for a moving platform is provided, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), means for obtaining speed or velocity information and an assembly of self-contained sensors capable of obtaining readings (e.g., such as relative or non-reference based navigational information) about the moving platform, and further comprising at least one processor, coupled to receive the output information from the receiver, sensor assembly and means for obtaining speed or velocity information, and operative to integrate the output information to produce a navigation solution. The at least one processor may operate to provide a navigation solution by using the speed or velocity information to decouple the actual motion of the platform from the readings of the sensor assembly.

Abstract: A moving platform INS range corrector (“MPIRC”) module and its method of operation are disclosed for providing navigation and positioning information. The module comprises: means, such as a receiver, for receiving a first set of absolute navigational information from an external source (such as satellites in case of GNSS); an inertial sensor unit for generating a second set of navigational information at the module; and a transceiver, for receiving and/or transmitting signals and estimating distance measurement from a known position and receiving position coordinates. The navigational information is used by a processor programmed with a core algorithm, to produce a navigation solution (which comprises position, velocity and attitude). The system has the following attributes: the solution is produced seamlessly, even if one source of navigational information is temporarily out of service; the accuracy of the solution is assisted by use of distance and position coordinate measurement from a known position.

Abstract: The present disclosure relates to methods of enhancing a navigation solution about a device and a platform, wherein the mobility of the device may be constrained or unconstrained within the platform, and wherein the navigation solution is provided even in the absence of normal navigational information updates (such as, for example, GNSS). More specifically, the present method comprises utilizing measurements from sensors (e.g. accelerometers, gyroscopes, magnetometers etc.) within the device to calculate and resolve the attitude of the device and the platform, and the attitude misalignment between the device and the platform.

Abstract: A navigation module and method for providing an INS/GNSS navigation solution for a moving platform is provided, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), means for obtaining speed or velocity information and an assembly of self-contained sensors capable of obtaining readings (e.g., such as relative or non-reference based navigational information) about the moving platform, and further comprising at least one processor, coupled to receive the output information from the receiver, sensor assembly and means for obtaining speed or velocity information, and operative to integrate the output information to produce a navigation solution. The at least one processor may operate to provide a navigation solution by using the speed or velocity information to decouple the actual motion of the platform from the readings of the sensor assembly.