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

Claim 8:
9. A mobile device capable of determining a position, the mobile device comprising:
one or more memories; and
one or more processors communicatively coupled to the one or more memories, a global navigation satellite system (GNSS) receiver, an inertial sensor, and a camera, the one or more processors configured to:
determine a first position estimate of the mobile device at a first time based on:
a first set of GNSS measurements from the GNSS receiver, and
a first set of data from the inertial sensor and the camera;

determine, 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;

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

provide 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.