Abstract: Various methods, apparatuses and articles of manufacture are provided for use in or with a mobile device to identify one or more attributes for each of a plurality of positioning resources available at the mobile device. In an example, positioning resources may provide all or part of a position fix based, at least in part, on one or more wireless signals received by the mobile device, and/or one or more electrical signals received from one or more sensors onboard the mobile device. For example, in certain instances at least one of the positioning resources may have at least one attribute that is different than at least one other attribute of anther positioning resource. In certain examples, at least one of the positioning resources may be selected for obtaining a position fix based, at least in part, on a request and one or more particular attributes.

Abstract: Various methods, apparatuses and articles of manufacture are provided for use in or with a mobile device to identify one or more attributes for each of a plurality of positioning resources available at the mobile device. In an example, positioning resources may provide all or part of a position fix based, at least in part, on one or more wireless signals received by the mobile device, and/or one or more electrical signals received from one or more sensors onboard the mobile device. For example, in certain instances at least one of the positioning resources may have at least one attribute that is different than at least one other attribute of another positioning resource. In certain examples, at least one of the positioning resources may be selected for obtaining a position fix based, at least in part, on a request and one or more particular attributes.

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.

Abstract: An embodiment of the present invention is a combined GPS and dead-reckoning (DR) navigation sensor for a vehicle in which a pair of modifications are made to an otherwise conventional Kalman filter. Process noise is adapted to cope with scale factor errors associated with odometer and turning rate sensors, and correlated measurement error processing is added. When only two Doppler measurements (PRRs), or three with an awkward three-satellite geometry, are available, DR error growth can nevertheless be controlled. The measurement error correlations in the conventional Kalman filter covariance propagation and update equations are explicitly accounted for. Errors induced by selective availability periods are minimized by these two modifications.