METHOD AND APPARATUS FOR IN MOTION INITIALIZATION OF GLOBAL NAVIGATION SATELLITE SYSTEM - INERTIAL NAVIGATION SYSTEM

摘要

A mobile device (100) in a moving vehicle (102) initializes a Global Navigation Satellite System (GNSS) - Inertial Navigation System (INS) system while the vehicle (102) is in-motion with the orientation of the mobile device (100) with respect to a global reference frame. The mobile device (100) uses gyroscope (312) measurements made while the vehicle (102) is turning to determine a gravity vector. The gravity vector and accelerometer (311) measurements may be used to determine a forward vector for the mobile device (100). A north vector is determined using the GNSS (110) measurements. After the GNSS-INS system is calibrated, the mobile device (100) may be positioned with respect to the vehicle (102). The orientation of the mobile device (100), prior to repositioning, may be compared to a current orientation, determined while the vehicle (102) is in motion, in order to determine whether the GNSS-INS system should be reinitialized.