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

Claim 19:
20. A non-transitory computer-readable medium storing instructions for determining a position estimate of a mobile device, the instructions comprising code 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;

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;

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

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.