Patent ID: 11914055
Assignee: QUALCOMM INCORPORATED
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 15:
16. An apparatus for determining a position estimate of a mobile device, the apparatus comprising:
means for determining a first position estimate of the mobile device at a first time based on:
a first set of Global Navigation Satellite System (GNSS) measurements, and
a first set of data from an inertial sensor and a camera;

means for determining, without using additional GNSS measurements, a second position estimate of the mobile device at a second time subsequent to the first time, wherein the second position estimate is based on:
the first position estimate, and
a second set of data from the inertial sensor and the camera;

means for generating a third position estimate of the mobile device at the second time based on:
a second set of GNSS measurements, and
the second set of data from the inertial sensor and the camera; and

means for providing an indication of a determined position, wherein the determined position comprises either the second position estimate of the mobile device or the third position estimate of the mobile device at the second time, and wherein the determined position is determined responsive to a result of a comparison of:
a calculated distance between the second position estimate of the mobile device at the second time and the third position estimate of the mobile device at the second time, with
a threshold distance.