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    • 5. 发明授权
    • Systems and methods for estimating movements of a vehicle using a mobile device
    • 用于估计使用移动设备的车辆移动的系统和方法
    • US09360323B2
    • 2016-06-07
    • US14622502
    • 2015-02-13
    • Tourmaline Labs, Inc.
    • Leonard H. Grokop
    • G01C21/10G01C21/16H04W4/02H04W64/00G06Q40/08
    • G01C21/165G06Q40/08H04W4/027H04W64/006
    • A method of computing an orientation of a mobile device in a vehicle includes collecting accelerometer data from the mobile device. The accelerometer data are subdivided into frames, each frame being a quantity of time in which a sample data point is taken. Statistics are calculated for each frame, including (i) a mean and (ii) a standard deviation of the magnitude of the acceleration vectors. Device usage delimiters, marking start and end points of a coherent block, are computed, the coherent block being consecutive frames in which the mobile device stays in the same orientation relative to the vehicle. A gravity vector is estimated using the statistics in coherent blocks. A nullspace is computed from the gravity vector, the nullspace being a plane orthogonal to the gravity vector. The accelerometer data is projected onto the nullspace, resulting in an estimated orientation of the mobile device in the vehicle.
    • 计算车辆中的移动设备的方向的方法包括从移动设备收集加速度计数据。 加速度计数据被细分成帧,每帧是采样数据点的时间量。 对于每个帧计算统计量,包括(i)加速度矢量的平均值和(ii)标准偏差。 计算设备使用定界符,标记相干块的起始点和终点,相干块是连续的帧,其中移动设备相对于车辆保持在相同的方位。 使用相干块中的统计量来估计重力矢量。 从重力向量计算空值,零空间是与重力矢量正交的平面。 将加速度计数据投影到零空间上,导致移动设备在车辆中的估计取向。
    • 6. 发明申请
    • SYSTEMS AND METHODS FOR ESTIMATING MOVEMENTS OF A VEHICLE USING A MOBILE DEVICE
    • 使用移动设备估计车辆的运动的系统和方法
    • US20150233718A1
    • 2015-08-20
    • US14622502
    • 2015-02-13
    • TOURMALINE LABS, INC.
    • Leonard H. Grokop
    • G01C21/16H04W4/02H04W64/00H04M1/725
    • G01C21/165G06Q40/08H04W4/027H04W64/006
    • A method of computing an orientation of a mobile device in a vehicle includes collecting accelerometer data from the mobile device. The accelerometer data are subdivided into frames, each frame being a quantity of time in which a sample data point is taken. Statistics are calculated for each frame, including (i) a mean and (ii) a standard deviation of the magnitude of the acceleration vectors. Device usage delimiters, marking start and end points of a coherent block, are computed, the coherent block being consecutive frames in which the mobile device stays in the same orientation relative to the vehicle. A gravity vector is estimated using the statistics in coherent blocks. A nullspace is computed from the gravity vector, the nullspace being a plane orthogonal to the gravity vector. The accelerometer data is projected onto the nullspace, resulting in an estimated orientation of the mobile device in the vehicle.
    • 计算车辆中的移动设备的方向的方法包括从移动设备收集加速度计数据。 加速度计数据被细分成帧,每帧是采样数据点的时间量。 对于每个帧计算统计量,包括(i)加速度矢量的平均值和(ii)标准偏差。 计算设备使用定界符,标记相干块的起始点和终点,相干块是连续的帧,其中移动设备相对于车辆保持在相同的方位。 使用相干块中的统计量来估计重力矢量。 从重力向量计算空值,零空间是与重力矢量正交的平面。 将加速度计数据投影到零空间上,导致移动设备在车辆中的估计取向。