Abstract: The disclosure generally relates to determining position of a motorized vehicle using wireless techniques. Methods, apparatus and systems are disclosed. A method can include: receiving absolute positioning data; receiving, from a mobile device, at least one of gyroscope data and odometry data; receiving, from a vehicle, at least one of gyroscope data and odometry data; initializing at least a heading to determine a relative path, wherein the relative path is based at least in part on the received data from the mobile device and the vehicle, wherein the received data comprises gyroscope data and odometry data; and shifting the relative path to an estimated path, wherein the estimated path is based at least in part on the absolute positioning data.

Abstract: Apparatus and methods for calibrating dynamic parameters of a vehicle navigation system are presented. One method may include determining whether reference position data of a vehicle is available, and measuring composite accelerations of the vehicle. The method may further include generating distance and turn angle data based upon a wheel speed sensors data, computing distance and turn angle errors based upon the independent position data, and associating the distance and turn angle errors with composite accelerations. A second method presented includes calibrating an inertial navigation sensor within a vehicle navigation system. The second method may include determining reference position data and Inertial Navigation System (INS) data, aligning an IMU with the vehicle, and aligning the IMU with an Earth fixed coordinate system.

Abstract: Provided are methods and apparatus for improving motion sensing. In an example, provided is a method of mitigating an error in a motion sensor signal in a mobile device. A user input signal, based on a user input to the mobile device, is received. The user input can be a keystroke, and the user input signal can be a signal resulting from the keystroke. The user input signal triggers performing a function on a motion sensor signal for a period of time. The motion sensor signal can be an output from an accelerometer and/or a gyroscope. The period of time can be based on the duration of the user input signal, and can be in a range between substantially 100 milliseconds to substantially 700 milliseconds.

Abstract: The subject matter disclosed herein relates to a system and method for determining a spatial alignment of an inertial measurement unit (IMU). By way of example, a method is described in which a first vehicle-based direction is identified, and the first vehicle-based direction is associated with a first direction that is transformable to an earth-based coordinate frame. A spatial alignment of the IMU is determined based at least partially on the first direction.

Abstract: Techniques are provided which may be implemented using various methods and/or apparatuses in a mobile device to classify and/or otherwise determine a “motion state” of the mobile device. The mobile device may, for example, classify a motion state of the mobile device based on sensed data (e.g., from inertial sensors, environmental sensors, etc.) that may be filtered based on a vibration profile. A motion state may then affect operation of one or more other functions performed or supported by the mobile device.

Abstract: Methods and apparatus for determining context of a mobile device are provided. In an example, provided is a method for identifying an environment of a mobile device. The method includes receiving a motion sensor signal. The motion sensor signal can be received from an accelerometer and/or a gyroscope. If a frequency characteristic of an engine is detected in the motion sensor signal, a control signal is output identifying that the mobile device is located in a motor vehicle. The control signal can enable a vehicle navigation mode. The control signal can also be used to alert a user to the identified environment and/or change a feature of the mobile device. The method can also include receiving an audio signal from a microphone, detecting the engine vibration from the audio signal, and using the audio signal to confirm the detecting the engine vibration from the motion sensor signal.

Abstract: Techniques for compensating for inertial and/or magnetic interference in a mobile device are provided. The mobile device can include a vibration motor to vibrate the device, a processor, and can include an inertial sensor and/or a magnetometer. The processor can be configured to actuate the vibration motor to induce vibration of the mobile device, to measure motion of the mobile device with the inertial sensor of the device to produce sensor output data and/or to measure a magnetic field generated by the vibration motor to produce magnetometer output data, and to compensate for the vibration of the inertial sensor induced by the vibration motor to produce compensated sensor output data and/or to compensate for a magnetic field generated by the vibration motor when the vibration motor is actuated to produce compensated magnetometer output data.

Abstract: Embodiments implement a device having a sensor element, where different data streams created as part of a sensor module integrated with the sensor element may create multiple sensor data streams from a single sensor element, and may concurrently convey information from the sensor element to respective different applications having different data parameter requirements such that the data streams each match the parameter requirements of the different applications.

Abstract: Embodiments implement a device having a sensor optimizer, where a source data stream from a sensor module may be used by the sensor optimizer to create multiple sensor data streams having different data stream parameters (e.g. data rate, calibration, scaling, etcetera) from the source data stream. Such a sensor optimizer may intercept requests for sensor data from applications running on a mobile device processor, and concurrently provide data streams having different data stream parameters to applications executed by the processor.

Abstract: The disclosure relates to mitigating the effect of a sudden change in sensor calibration parameters. An embodiment of the disclosure retrieves a current calibration parameter value for the sensor, determines a new calibration parameter value for the sensor, and generates transitional calibration parameter values based at least on the current calibration parameter value and the new calibration parameter value using an interpolation function configured to prevent a sudden change in the sensor calibration parameter values.

Abstract: Techniques are provided which may be implemented using various methods and/or apparatuses in a mobile device to classify and/or otherwise determine a “motion state” of the mobile device. The mobile device may, for example, classify a motion state of the mobile device based on sensed data (e.g., from inertial sensors, environmental sensors, etc.) that may be filtered based on a vibration profile. A motion state may then affect operation of one or more other functions performed or supported by the mobile device.

Abstract: Provided are methods and apparatus for improving motion sensing. In an example, provided is a method of mitigating an error in a motion sensor signal in a mobile device. A user input signal, based on a user input to the mobile device, is received. The user input can be a keystroke, and the user input signal can be a signal resulting from the keystroke. The user input signal triggers performing a function on a motion sensor signal for a period of time. The motion sensor signal can be an output from an accelerometer and/or a gyroscope. The period of time can be based on the duration of the user input signal, and can be in a range between substantially 100 milliseconds to substantially 700 milliseconds.

Abstract: Systems and methods are described for computing device motion direction and orientation.

Abstract: Methods and apparatus for detecting, measuring, and/or mitigating effects of moving an inertial navigation device's cradle are provided. In an example, provided are methods and apparatus to mitigate cradle rotation-induced inertial navigation errors. In an example, a method for mitigating an inertial navigation error includes receiving inertial sensor data and processing the inertial sensor data with a first navigation algorithm having a non-holonomic constraint (NHC). A second navigation algorithm, lacking a NHC, also processes the inertial sensor data simultaneously with the first algorithm. A cradle rotation is detected by the second navigation algorithm. A first navigation algorithm result, produced from the inertial sensor data generated during the cradle rotation, is discarded. The first algorithm can be computationally realigned, based on a second navigation algorithm result produced from the inertial sensor data generated during the cradle rotation.

Abstract: Methods and apparatus for accelerometer autocalibration in a mobile device are provided. In an example, a signal is received from the accelerometer. A substantially constant state of the signal, such as that caused by a freefall of the accelerometer, is detected. When the signal remains in the substantially constant state for at least a predetermined period of time, the signal's noise level is measured. A compensating signal based upon the measured noise level is determined and can be output to the accelerometer, thus compensating the accelerometer to mitigate the noise level. In examples, the compensating signal can be a reference voltage, a reference frequency, and/or a reference pulse train. In a further example, the compensating is performed only when the noise level of the signal is within a range for at least the predetermined period of time.

Abstract: Systems and methods are described for measuring orientation of sensors associated with a mobile device with respect to pedestrian motion of a user of the mobile device. An example technique described herein includes obtaining acceleration information associated with the mobile device, partitioning the acceleration information according to respective detected pedestrian steps of the user, identifying a forward motion direction of the user of the mobile device based on the acceleration information and the detected pedestrian steps, and computing a misalignment angle between the forward motion direction of the user of the mobile device and an orientation of the mobile device.

Abstract: Methods and apparatus for determining context of a mobile device are provided. In an example, provided is a method for identifying an environment of a mobile device. The method includes receiving a motion sensor signal. The motion sensor signal can be received from an accelerometer and/or a gyroscope. If a frequency characteristic of an engine is detected in the motion sensor signal, a control signal is output identifying that the mobile device is located in a motor vehicle. The control signal can enable a vehicle navigation mode. The control signal can also be used to alert a user to the identified environment and/or change a feature of the mobile device. The method can also include receiving an audio signal from a microphone, detecting the engine vibration from the audio signal, and using the audio signal to confirm the detecting the engine vibration from the motion sensor signal.

Abstract: An apparatus and method for efficient and concurrent sampling of a sensor signal to create multiple output signals each at different sampling rates is provided. The apparatus and method determine an aperiodic sampling rate or sampling schedule such that only samples representing samples at the different sampling rates are taken. The aperiodic samples are taken then de-interleaved to filter wanted samples for a particular application or user. As a result, the aperiodic samples is just a combination of all of the subsets to each application. Such aperiodic sampling reduces a total number of samples taken and, as a direct result, reduces the number of samples needing to be processed and stored and also reduced the power otherwise consumed to sample, process and store unused samples.

Abstract: Methods and apparatuses are provided that may be implemented in a mobile device to allow for display mode selection based, at least in part, on a motion direction with respect to an orientation of a display of the mobile device.

Abstract: An apparatus and method for providing an improved heading estimate of a mobile device in a vehicle is presented. First, the mobile device determines if it is mounted in a cradle attached to the vehicle; if so, inertia sensor data may be valid. While in a mounted stated, the mobile device determines whether it has been rotated in the cradle; if so, inertia sensor data may no longer be reliable and a recalibration to determine a new relative orientation between the vehicle and the mobile device is needed. If the mobile device is mounted and not recently rotated, heading data from multiple sensors (e.g., GPS, gyroscope, accelerometer) may be computed and combined to form the improved heading estimate. This improved heading estimate may be used to form an improved velocity estimate. The improved heading estimate may also be used to compute a bias to correct a gyroscope.