HEADING VELOCITY AND POSITION ESTIMATION WITH VEHICLE SENSORS MOBILE DEVICE AND GNSS INPUTS

摘要

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.