Visual inertial odometry attitude drift calibration
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United States of America Patent
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Jun 18, 2019
Grant Date -
Feb 2, 2017
app pub date -
Mar 23, 2016
filing date -
Jul 27, 2015
priority date (Note) -
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Abstract
Disclosed embodiments pertain to a method on a UE may comprise determining a first absolute position of the UE at a first time based on GNSS measurements from a set of satellites. At a second time subsequent to the first time, the UE may determine a first estimate of displacement of the UE relative to the first absolute position using non-GNSS measurements. Further, at the second time, the UE may also determine a second estimate of displacement relative to the first absolute position and/or a second absolute position of the UE based, in part, on: the GNSS carrier phase measurements at the first time from the set of satellites, and GNSS carrier phase measurements at the second time from a subset comprising two or more satellites of the set of satellites, and the first estimate of displacement of the UE.
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