SYSTEM AND METHOD FOR DEVICE BEARING ESTIMATION
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United States of America Patent
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Sep 3, 2015
app pub date -
Sep 4, 2013
filing date -
Sep 4, 2012
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Abstract
A processing apparatus determines an estimated direction of motion of an entity physically associated with a device having a plurality of sensors for generating an estimate of a navigational state of the device. The estimated direction of motion is based at least in part on a device-to-frame orientation corresponding to an orientation of the device relative to a predefined inertial frame of reference, and an estimated device-to-entity orientation corresponding to an orientation of the device relative to a direction of motion of the entity. In response to detecting a change in the device-to-frame orientation, the processing apparatus divides the change in the device-to-frame orientation between a change in the estimated direction of motion of the entity and a change in the estimated device-to-entity orientation, and updates the estimated direction of motion of the entity based on the division of the change in the device-to-frame orientation.
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