(12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT)
`
`9
`
`
`
`
`
`) Wo,ld 1 ",~::~:~n~":'.';!, o,....n;wtion •
`
`PCT
`
`I IIII IIIIIII II IIIII IIIII IIIII IIIII IIII I II Ill lllll lllll lllll lllll lllll llll 1111111111111111111
`
`(10) International Publication Number
`WO 2007 /101724 A2
`
`(l
`
`(43) International Publication Date
`13 September 2007 (13.09.2007)
`
`Not classified
`
`(51) International Patent Classification:
`(21) International Application Number:
`PCT /EP2007 /002187
`8 March 2007 (08.03.2007)
`English
`English
`
`(22) International Filing Date:
`(25) Filing Language:
`(26) Publication Language:
`(30) Priority Data:
`GB
`8 March 2006 (08.03.2006)
`0604709.6
`GB
`8 March 2006 (08.03.2006)
`0604708.8
`GB
`8 March 2006 (08.03.2006)
`0604710.4
`GB
`8 March 2006 (08.03.2006)
`0604704.7
`GB
`8 March 2006 (08.03.2006)
`0604706.2
`(71) Applicant (for all designated States except US): TOM(cid:173)
`TOM INTERNATIONAL B.V. [NL/NL]; Rembrandt(cid:173)
`plein 35, NL-1017 CT Amsterdam (NL).
`(72) Inventor; and
`(for US only): DEURWAARDER,
`(75) Inventor/Applicant
`William [NL/NL]; TomTom International B.V., Rem(cid:173)
`
`(74) Agent: EISENBERG, Jacob; TomTom International
`B.V., Rembrandtplein 35, NL-1017 CT Amsterdam (NL).
`
`(81) Designated States (unless otherwise indicated, for every
`kind of national protection available): AE, AG, AL, AM,
`AT, AU, AZ, BA, BB, BG, BR, BW, BY, BZ, CA, CH, CN,
`CO, CR, CU, CZ, DE, DK, DM, DZ, EC, EE, EG, ES, FI,
`GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS,
`JP, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, LR, LS,
`LT, LU, LY, MA, MD, MG, MK, MN, MW, MX, MY, MZ,
`NA, NG, NI, NO, NZ, OM, PG, PH, PL, PT, RO, RS, RU,
`SC, SD, SE, SG, SK, SL, SM, SV, SY, TJ, TM, TN, TR,
`TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW.
`
`(84) Designated States (unless otherwise indicated, for every
`kind of regional protection available): ARIPO (BW, GH,
`GM, KE, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM,
`ZW), Eurasian (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM),
`European (AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, Fl,
`FR, GB, GR, HU, IE, IS, IT, LT, LU, LV, MC, MT, NL, PL,
`PT, RO, SE, SI, SK, TR), OAPI (BF, BJ, CF, CG, CI, CM,
`GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG).
`
`= brandtplein 35, NL-1017 CT Amsterdam (NL).
`-iiiiiiii
`iiiiiiii _---------------------------------------------
`(54) Title: PORTABLE NAVIGATION DEVICE WITH ACCELEROMETER
`
`[Continued on next page}
`
`(57) Abstract:
`portable
`A
`navigation device comprises an
`accelerometer,
`a GPS receiver,
`and a calibration module The
`calibration module
`generates
`calibration
`parameters
`that
`enable acceleration data from the
`accelerometer
`to be accurately
`converted into speed and heading
`data and integrated over time to
`give distance data The calibration
`parameters are calculated
`from
`GPS derived speed and heading
`data and resolve or otherwise
`compensate for (i) the attitude of
`the portable device with respect to
`the horizontal plane ("pitch") and
`(ii) the angle between the forward
`direction of the device and the
`driving direction of a vehicle the
`device is mounted in ("yaw")
`
`unit rotates when on dock
`
`--
`
`----
`
`push button to release
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`WO 2007/1017 24 A2
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`
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`I IIIIIIIIIIIII II IIIIII IIIII IIIII IIIII IIII I II Ill lllll lllll lllll lllll lllll llll lllllll 111111111111
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`Published:
`without international search report and to be republished
`upon receipt of that report
`
`For two-letter codes and other abbreviations, refer to the "Guid-
`ance Notes on Codes and Abbreviations" appearing at the begin-
`ning of each regular issue of the PCT Gazette.
`
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`WO 2007/101724
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`1
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`PCT /EP2007 /002187
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`PORTABLE NAVIGATION DEVICE WITH ACCELEROMETER
`
`BACKGROUND OF THE INVENTION
`
`5
`
`1.
`
`Field of the Invention
`
`This invention relates to a portable navigation device comprising an accelerometer, a GPS
`
`receiver, and a calibration module. The calibration module generates calibration parameters
`
`that enable acceleration data from the accelerometer to be accurately converted into speed
`
`10
`
`and heading data and integrated over time to give distance data. The term GPS refers to
`
`the GPS satellite navigation system, and any equivalent or similar system, such as Galileo.
`
`2.
`
`Description of the Prior Art
`
`15
`
`It is well known to integrate GPS with dead reckoning systems and for the GPS to be used
`
`to calibrate the output from the dead reckoning sensors. Reference may be made to
`
`"Integration of GPS and Dead-Reckoning Navigation Systems" by Wei-Wen Kao, Vehicle
`
`Navigation & Information Systems Conference Proceedings P-253 ISBN 1-56091-191-3.
`
`The basic approach
`
`there is to use the absolute position accuracy of GPS to provide
`
`20
`
`feedback signals to correct the dead-reckoning errors, while the smoothness and constant
`
`availability of the dead-reckoning signals are used to correct GPS position errors (e.g. due
`
`to multipath propagation and the selective availability that was imposed at the time the
`
`paper was written, 1991). Later systems were designed to correct for the inclination
`
`('pitch') and tilt ('roll') in embedded or built in automotive systems; reference may be made
`
`25
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`to EP 1096230, which is also helpful in providing a detailed background. The contents of
`
`this publication are incorporated by reference.
`
`However, most current generation automotive navigation devices are not embedded
`
`systems at all, but instead portable systems. These pose significant challenges because they
`
`30
`
`are typically removably mounted on suction mounts against the vehicle windshield. These
`
`devices are therefore rarely fixed with the same orientation (i.e. pitch, roll or yaw) and in
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`fact any of these factors can alter even during a drive.
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`WO 2007/101724
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`PCT /EP2007 /002187
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`SUMMARY OF THE INVENTION
`
`The invention
`
`is a portable navigation device compnsmg an accelerometer, a GPS
`
`receiver, and a calibration module. The calibration module generates calibration
`
`5
`
`parameters
`
`that enable acceleration data from
`
`the accelerometer
`
`to be accurately
`
`converted into speed and heading data, in which the calibration parameters are calculated
`
`from GPS derived speed and heading data and resolve or otherwise compensate
`
`for (i)
`
`the attitude of the portable device with respect to the horizontal plane ('pitch') and (ii)
`
`the angle between the forward direction of the device and the driving direction of a
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`10
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`vehicle the device is mounted in ('yaw').
`
`The angle between the forward direction of the device and the driving direction of the
`
`vehicle the device is mounted
`
`in (i.e. 'yaw') can be altered at any ti.me by a user of the
`
`device and the calibration module will automatically calculate calibration parameters
`
`that
`
`15
`
`resolve or otherwise compensate for this changed angle. Modelling yaw is important but
`
`prior art systems concentrated on compensating
`
`for just pitch and roll, principally
`
`because they were focussed on embedded systems. But for portable navigation systems,
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`yaw is a surprisingly important attribute to resolve.
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`20
`
`In one implementation,
`
`the device calculates calibration parameters for each successive
`
`valid GPS-derived
`
`speed and heading
`
`fix. The device
`
`then stores
`
`the calculated
`
`calibration parameters, and clears any stored calibration parameters that are of more than
`
`a predefined age (e.g. 5 seconds old).
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`25
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`Unlike typical prior art system that combine GPS and dead-reckoning systems at the
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`same time, the device may determine its position exclusively using data derived from the
`
`accelerometer
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`if the GPS signal is lost and valid calibration parameters are available;
`
`when a GPS fix is available, then no assistance from the accelerometer is provided.
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`30
`
`In operation, one implementation
`
`stores a predefined number of samples of speed and
`
`heading calibration parameters
`
`together with time and accelerometer data. The device
`
`checks that at least n seconds of data is stored and then compares stored GPS and
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`accelerometer data for each n second epoch is compared against thresholds of speed and
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`age.
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`WO 2007/101724
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`PCT /EP2007 /002187
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`The portable navigation device can be a touch-screen controlled automotive navigation
`
`device. This can be removably mounted onto a vehicle windscreen using a suction
`
`5 mount. It could also be a handheld device, and may also operate as a mobile telephone.
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`DETAILED DESCRIPTION
`
`This section describes an Assisted Satellite Navigation (ASN) option for automotive,
`
`portable navigation devices. ASN uses a dual axis accelerometer to predict the position
`
`5 when no GPS is available. It may also include an on-board gyrometer for improved
`
`accuracy.
`
`To be useful the accelerometer has to be calibrated. The calibration has to be performed
`
`to resolve:
`
`10
`
`• The attitude of the device with respect to the horizontal plane
`
`• The angle between the forward directions of the device and the driving direction
`
`of the car
`
`• Biases in the observation due to the physical properties of the accelerometer.
`
`•
`
`Initial speed and heading values.
`
`15
`
`The attitude causes part of the acceleration of the earth's gravity field to leak through in
`
`the measured accelerations. The angle causes the effect that a single longitudinal or lateral
`
`acceleration influences both axes of the accelerometer. If the device is mounted upside
`
`down, the lateral axis will be reversed. This situation is set by the user in the preference
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`20
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`settings (, and used by the software.
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`The position used in the device is either a pure GPS solution or a pure ASN solution.
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`These modes are discussed in the next two sections.
`
`25
`
`2.
`
`Behavior if GPS is available
`
`GPS positions are received typically every second (1 Hz). If GPS positions are available,
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`these are passed unaltered. The speed and heading are passed into the calibration
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`module. This module tries to calculate a set of calibration parameters that is used to
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`convert acceleration into speed and heading. These parameters are recalculated every
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`30
`
`time a valid GPS fix is received.
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`The accelerations are tested for reasonable values (sanity check), the values should be less
`
`then 20m/ s2
`
`, i.e. twice the acceleration of the earths gravity. If accepted, they are
`
`accumulated and stored. If a GPS fix is received, the age of the last added GPS data is
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`checked. If this age is more than 5 seconds, the calibration is reset. This has the effect
`
`that a gap in the GPS data of less than 5 seconds does not invalidate the calibration. In
`
`this time span ASN is invoked (if the calibration is valid). If the speed and heading are
`
`accepted, they are stored together with its time and the accelerometer data. The last 30
`
`5
`
`samples are kept, previous ones are discarded. After this a calibration is attempted.
`
`First is a check that at least 30 seconds of data is present. Next, the stored GPS and
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`accelerometer data for each epoch is checked for the following conditions:
`
`• The speed should larger than 2.0 m/ s,
`
`10
`
`• The age of the data should be less than 30 seconds,
`
`• The age of the data should be larger than O seconds.
`
`To proceed with the calibration, % of the buffer (30 seconds at 1 Hz is 30 samples)
`
`should be available Q.e. 22 samples). A period of 30 seconds of GPS data is needed. The
`
`15 GPS speed and heading are matched against the accelerometer data by a least squares
`
`calculation. The observations are weighted based on their age, older observations get less
`
`weight. After a first match the data with the largest w-test static are removed, to eliminate
`
`outliers. Fifteen percent of the speed and 15% of the heading data is removed. After this
`
`a new calibration (without the removed observations) is performed. This results in a set
`
`20
`
`of calibration parameters that is used for ASN when needed.
`
`3.
`
`Behaviour if GPS is unavailable
`
`If the GPS receiver looses track of the satellites, no valid GPS position is available. In
`
`this situation ASN is used, if the system is calibrated. The calibration parameters together
`
`25 with the accelerations are used to calculate the speed and heading of the vehicle. These
`
`are integrated in time to give the ASN derived position. This continues until one of the
`
`following conditions is reached:
`
`• The calibration parameters are more then 120 seconds old,
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`• The speed is less than 0,
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`30
`
`• The speed is larger than 170 km/h
`
`The last two conditions may occur due to small error in the calibration parameters.
`
`Once there are valid GPS positions again, the calibration is invalidated. The new data will
`
`be used to compute a new calibration.
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`4.
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`Zero velocity updates
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`By looking at the raw accelerometer observations it is possible to detect if the vehicle is
`
`stationary. This information
`
`is used to update the internal filter and thus used only
`
`5
`
`internally. As of now it is not used in any other functions.
`
`5
`
`Map matching
`
`To improve the performance of ASN feedback from the map matcher is accepted. The
`
`position is map matched in normal fashion. This makes that the position that is shown
`
`10
`
`on the screen stays on the road. Also the heading between two consecutive positions is
`
`computed, and the predicted heading is corrected to match the map matched heading.
`
`15
`
`Figure 1 is a perspective view of an actual implementation of a navigation device and
`
`dock. The navigation device is a unit that includes display, internal GPS receiver,
`
`microprocessor, power supply and memory systems. The device 1 sits on a docking
`
`platform 2; the platform 2 is rotatably mounted an arm 3 that can pivot horizontally
`
`20
`
`about bolt post 4. The arm 3 can also pivot vertically about posts 5, which pass through
`
`apertures in a mounting arm which has a large suction cup 6 at one end. As shown in
`
`Figure 1, the device 1 and docking platform 2 can rotate together; this combined with
`
`the vertical and horizontal degrees of movement allowed by posts 5 enables the device,
`
`when secured to the car dashboard using a large suction cup 43, to be perfectly
`
`25
`
`positioned for a driver. It also means that considerable yaw can be introduced
`
`i.e. the
`
`angle between the forward direction of the device and the driving direction of a vehicle
`
`the device is mounted in can and will be different most times the device is used, and may
`
`even alter during use (for example, the driver might adjust this angle).
`
`30
`
`System Architecture
`
`In contrast to conventional embedded devices which execute all the OS and application
`
`code in place from a large mask ROM or Flash device, an implementation of the present
`
`invention uses a new memory architecture. The device, includes conventional items such
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`as a microprocessor, power source, display and related rivers. In addition, it includes a
`
`SD card reader; a SD card is shown slotted into position. The device has internal
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`DRAM and XIP Flash.
`
`5
`
`The device hence uses three different forms of memory:
`
`1. A small amount of internal XIP (eXecute In Place) Flash ROM. This
`
`is
`
`analogous to the PC's BIOS ROM and will only contain a proprietary boot
`
`loader, E 2 emulation (for UID and manufacturing data) and splash screen bit
`
`maps. This is estimated to be 256 KB in size and would be on a slow 8 bit wide
`
`10
`
`SRAM interface.
`
`2. The main system RAM (or DRAM) memory, this is analogous to the PC's main
`
`memory (RAM). This will be where all the main code executes from as well as
`
`providing the video RAM and workspace for the OS and applications. No
`
`persistent user data will be stored in the main system RAM (like a PC) i.e. there
`
`15
`
`will be no "Ram drive". This RAM will be exclusively connected
`
`to a 32bit
`
`100MHz synchronous high-speed bus.
`
`3. Non-volatile storage, analogous to the PC's hard disk. This is implemented as
`
`removable NAND flash based SD cards. These devices do not support XIP. All
`
`the OS, application, settings files and map data will be permanently stored on SD
`
`20
`
`cards
`
`On boot up the proprietary boot loader will prompt for the user to insert the supplied
`
`SD card. When this is done, the device will copy a special system file from the SD card
`
`into RAM. This file will contain the Operating System and navigation application. Once
`
`25
`
`this is complete control will be passed to the application. The application then starts and
`
`access non-volatile data e.g. maps from the SD card.
`
`When the device is subsequently switched off, the RAM contents is preserved so this
`
`boot up procedure only occurs the first time the device is used.
`
`30
`
`Device also includes a GPS receiver with integral antenna.
`
`The following other signals are also connected via the dock to the navigation device:
`
`1. Power from the vehicle
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`2. A signal to automatically mute the car audio system during a spoken command
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`3. A signal to switch on and off the device automatically with the
`
`vehicles ignition switch or key
`
`4. Audio output signals to play spoken commands on the vehicles audio system.
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`5
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`9
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`WO 2007/101724
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`Appendix 1
`
`GO product specification
`
`5
`
`Introduction
`
`GO is a stand-alone fully integrated personal navigation device that implements
`
`the
`
`present invention. It will operate independently from any connection to the vehicle.
`
`Target markets
`
`10 Go is intended to address the general personal navigation market. In particular it is
`
`designed to extend the market for personal navigation beyond
`
`the "early adopter"
`
`market. As such it is a complete stand-alone solution; it does not require access to a PC,
`
`PDA or Internet connection. The emphasis will be on completeness and ease of use.
`
`15 Although Go is a complete personal navigation solution it is primarily intended for in
`
`vehicle use. The primary target market is anybody who drives a vehicle either for
`
`business or pleasure.
`
`To successfully address this market Go must satisfy the following top-level requirements:
`
`1. Acceptable price point - Appropriate compromise between product features and
`
`20
`
`cost.
`
`2. Simplicity -
`
`Installation and operation of Go will be simple and intuitive, all
`
`major functions should be accomplished by an average non PC-literate user
`
`without recourse to the product manual.
`
`3. Flexibility - All map data and operating programs will be supplied on plug in
`
`25
`
`memory cards. The device can easily be extended to cover different locals.
`
`4. Reliability Although in-car navigation systems are not considered safety critical
`
`components users will come to rely on Go. It will be engineered to all relevant
`
`automotive environmental standards. In addition it will be tolerant to short GPS
`
`coverage outages.
`
`30 Channels
`
`• Consumer electronics retail outlets
`
`• Automotive accessory outlets
`
`• Specialist car accessory fitting garages
`
`Product summary
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`PCT /EP2007 /002187
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`Go is an in-vehicle personal navigation device. It is designed as an appliance, that is, for a
`
`specific function rather than a general purpose one. It is designed for the consumer after(cid:173)
`
`sales automotive market. It will be simple to use and install by the end user, although a
`
`professional fitting kit will be optionally supplied.
`
`5
`
`The principal features are:
`
`• Built on standard commodity PocketPC 2002 components
`
`• Standard PocketPC 3.5" %VGA
`
`transflective TFT LCD display mounted m
`
`landscape orientation
`
`• Romless soft-boot memory architecture
`
`10
`
`• Highly integrated ARM9 200MHz CPU
`
`• SD card memory slot for application and map data storage
`
`•
`
`•
`
`Integrated GPS receiver and antenna
`
`Integrated two axis accelerometer for simple dead reckoning
`
`• Power, audio, debug and external GPS antenna connections made
`
`through
`
`15
`
`docking connector on base of unit
`
`• Embedded Linux OS with no GUI layer, application provides its own UI
`
`• Very simple touch screen UI optimised for finger use
`
`• High quality integrated speaker for voice instructions
`
`•
`
`Internal rechargeable Li-Ion battery giving at least five hours of continuous
`
`20
`
`operation
`
`Operating System
`
`Go will use a customised version of embedded Linux. This will be loaded from an SD
`
`card by a custom boot-loader program which resides in Flash memory
`
`Hard buttons
`
`25
`
`Go will have only one hard button, the power button. It is pressed once to turn on or off
`
`Go. The UI will be designed so that all other operations are easily accessible through the
`
`pen based UI. There will also be a concealed hard reset button.
`
`Architecture
`
`Go architecture is based around a highly integrated single chip processor designed for
`
`30 mobile computing devices. This device delivers approximately 200 MIPs of performance
`
`from an industry standard ARM920T processor.
`
`It also contains all the peripherals
`
`required excluding the GPS base-band. These peripherals include DRAM controller,
`
`timer/ counters, UARTs, SD interface and LCD controller.
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`The main elements of this architecture are:
`
`• Microprocessor running at 200MHz
`
`•
`
`32MB or 64MB of fast synchronous DRAM (SDRAM) with low power self
`
`refresh. Arranged as two devices on a 32 bit wide 100MHz bus
`
`5
`
`• SD card interface for all non-volatile storage including the OS (No RAM drive)
`
`• Native (bare metal) boot loader stored in 256KB of NOR Flash. This Flash
`
`device will contain a boot sector which is write protected to store protected
`
`data such as unique product !D's and manufacturing data.
`
`• Debug UART (RS232 3V levels) connected to the docking connector
`
`10
`
`• USB client for PC connectivity
`
`•
`
`•
`
`Integrated GPS receiver
`
`Integrated two axis accelerometer
`
`• Optional
`
`integrated Bluetooth
`
`transceiver
`
`for PDA and mobile phone
`
`connectivity
`
`15
`
`• High quality audio through I2S codec and amplifier
`
`The Go block diagram is at Figure 2.
`
`Power management
`
`20 Go will be powered from an integrated Li-Ion 2200 mAH rechargeable battery. This
`
`battery can be charged, and the device powered (even if the battery contains no charge)
`from an externally supplied + 5V power source. This external + 5V power source is
`
`supplied via the docking connector or a DC jack socket.
`This + 5V supply will be generated from the vehicle's main supply rail or from a mains
`
`25
`
`adapter externally. The device will be turned on and off by a single button. When the
`
`device is turned off the DRAM contents will be preserved by placing the RAM in self(cid:173)
`
`refresh so that when switched on Go will resume from where it was switched off. There
`
`will also be a wake-up signal available through he docking connector, this can be used to
`
`auto-switch on Go when the vehicle ignition is switched on.
`
`30
`
`There will also be a small hidden reset switch.
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`System Memory architecture
`
`In contrast to conventional embedded devices which execute all the OS and application
`
`code in place from a large mask ROM or Flash device, Go ,vill be based on a new
`
`memory architecture which is much closer to a PC.
`
`5
`
`This will be made up of three forms of memory:
`
`4. A small amount of XIP (eXecute In Place) Flash ROM. This is analogous to the
`
`PC's BIOS ROM and will only contain a proprietary boot loader, E 2 emulation
`
`(for UID and manufacturing data) and splash screen bit maps. This is estimated
`
`to be 256 KB in size and would be on a slow 8 bit wide SRAM interface.
`
`10
`
`5. The main system memory, this is analogous to the PC's main memory (RAM).
`
`This will be where all the main code executes from as well as providing the video
`
`RAM and workspace for the OS and applications. Note: No persistent user data
`
`will be stored in the main system RAM (like a PC) i.e. there will be no "Ram
`
`drive". This RAM will be exclusively connected to a 32bit 100MHz synchronous
`
`15
`
`high-speed bus. Go will contain two sites for 16 bit wide 256/512Mbit SDRAM's
`
`allowing memory configurations of 32MB (16 bit wide) 64MB 32 bit wide and
`
`128 MB (32 bit wide).
`
`6. Non-volatile storage, analogous to the PC's hard disk. This is implemented as
`
`removable NAND flash based SD cards. These devices do not support XIP. All
`
`20
`
`the OS, application, settings files and map data will be permanently stored on SD
`
`cards
`
`Audio
`
`A 52 mm diameter speaker is housed in Go to give good quality spoken instructions.
`
`This will be driven by an internal amplifier and audio codec. Audio line out will also be
`
`25
`
`present on the docking connector.
`
`SD Memory slot
`
`Go will contain one standard SD card socket. These are used to load system software
`
`and to access map data.
`
`Display
`
`30
`
`Go will use a transflective 3.5" TFT backlit display It ,vill be a 'standard' %VGA display
`
`as used by PocketPC PDA's. It will also contain a touch panel and bright CCFL
`
`backlight.
`
`IPR2020-01192
`Apple EX1049 Page 14
`
`

`

`13
`
`PCT /EP2007 /002187
`
`WO 2007/101724
`
`Power supplies
`
`Power supply - AC adapter socket
`4.75V to 5.25V (5.00V +/- 5%) @2A
`Power supply - Docking connector
`4.75V to 5.25V (5.00V +/- 5%) @2A
`Variants
`
`5
`
`It shall be possible to assemble and test the following variants of Go:
`
`Standard (Bluetooth depopulated, 32Mbyte RAM)
`
`In the Standard variant the Bluetooth function is not populated, and 32 Mbytes RAM is
`
`10
`
`fitted.
`
`Bluetooth option (Future variant)
`
`The product design should include Bluetooth although it is not populated in the standard
`
`variant to minimise BOM cost. The design should ensure that all other functions
`
`(including GPS RF performance) operate without degradation when the Bluetooth
`
`15
`
`function is operating.
`
`64Mbyte RAM option (Future variant)
`
`The product design should ensure it is possible to fit 64Mbyte RAM instead of 32Mbyte.
`
`Subassemblies
`
`Go consists of various electrical subassemblies.
`
`20 RF cable
`
`The RF cable feeds the RF signal from an external GPS antenna (which connects to Go
`
`via the RF docking connector) to the RF PCB where the GPS module is situated.
`
`External connectors
`
`Docking Connectors
`
`25
`
`Two Docking Connectors provide an interface to external Docking Stations.
`
`IPR2020-01192
`Apple EX1049 Page 15
`
`

`

`WO 2007/101724
`
`14
`
`PCT/EP2007/002187
`
`Docking Connector #1 pinout
`
`Pin Signal
`
`Dir Type
`
`Description
`
`1
`
`2
`
`3
`
`4
`
`5
`
`6
`
`7
`
`8
`
`9
`
`GND
`
`GND
`
`DOCKSNS1
`
`DOCKSNSO
`
`-
`
`-
`
`I/P
`
`I/P
`
`-
`
`-
`
`PU
`
`PU
`
`AUDIOL
`
`AUDIOR
`
`MUTE
`
`0/P
`
`0/P
`
`0/P
`
`IGNITION
`
`DOCKPWR
`
`I/P
`
`I/P
`
`Signal and power GND
`
`Docking Station Sense (0,1] - These signals are
`
`connected to pull-up resistors within the unit. The
`
`Docking Station pulls either or both of these
`
`signals to GND to indicate the presence and type
`
`of Docking Station.
`
`Audio line outputs (Left and Right) to connect to
`
`car audio system.
`
`0/D
`
`The unit pulls this line to GND to signal the car
`
`audio system to mute itself while the unit is issuing
`
`a voice command.
`
`PD
`
`Ignition sense.
`
`PWR
`
`+SV power
`
`from
`
`the Docking Station
`
`to
`
`10
`
`DOCKPWR
`
`I/P
`
`PWR
`
`simultaneously power
`
`the unit and charge
`
`the
`
`battery.
`
`PWR Power connection
`
`PU Pull-Up resistor within the unit
`
`0 /D Open-Drain output
`
`PD Pull-Down resistor within the unit
`
`Docking Connector #2 pinout
`
`Pin Signal
`
`Dir Type
`
`Description
`
`1
`
`2
`
`3
`
`4
`
`5
`
`6
`
`7
`
`8
`
`9
`
`TXD
`
`R,'CD
`
`RTS
`
`CTS
`
`GND
`
`nTRST
`
`TMS
`
`TCK
`
`TDI
`
`10
`
`TDO
`
`0/P UART
`
`3V logic level UART signals
`
`I/P
`
`UART
`
`0/P UART
`
`I/P
`
`UART
`
`-
`
`I/P
`
`I/P
`
`I/P
`
`1/P
`
`0/P
`
`PWR
`
`]TAG
`
`CPU ]TAG signals for test and configuration
`
`]TAG
`
`]TAG
`
`]TAG
`
`]TAG
`
`RF Docking Connector
`
`IPR2020-01192
`Apple EX1049 Page 16
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`

`

`WO 2007/101724
`
`15
`
`PCT/EP2007/002187
`
`The RF Docking Connector allows connection of an external active GPS antenna via a
`
`Docking Station.
`
`AC adapter socket
`
`The AC adapter socket allows power to be supplied from a low cost AC adapter or CLA
`
`5
`
`(Cigarette Lighter Adapter).
`
`USB connector
`
`The USB connector allows connection to a PC by means of a standard mini USB cable.
`
`SD card socket
`
`A hard locking SD card socket suitable for high vibration applications supports SDIO,
`
`10
`
`SD memory and MMC cards.
`
`(Although Go provides hardware support for SDIO, software support will not be
`
`available at the time of product introduction)
`
`Processor
`
`The processor is the ARM920T based SOC (System on chip) operating at approx
`
`15
`
`200Mhz.
`
`RAM
`
`Go will be fitted with RAM to the following specification:
`
`Type
`
`Total memory
`
`Bus width
`
`Minimum speed
`
`SDRAM with low-power refresh ("mobile" SDRAM)
`
`32 Mbyte (standard) or 64 Mbyte (future option)
`
`32-bit
`
`100Mhz
`
`Maximum self refresh current
`
`500 µ.A per device
`
`Configuration
`
`2 x 16-bit wide CSP sites
`
`Flash Memory
`
`20 Go will be fitted with a minimum of 256kbyte of 16-bit "vide Flash Memory to contain
`
`the following:
`
`• Boot loader code to enable loading of O /S from SD card
`
`• Factory set read-only protected manufacturing parameters (e.g. manufactured
`
`date) and unique ID (E2PROM emulation)
`
`25
`
`• User specific settings (E2PROM emulation)
`
`The following devices can be used depending on price and availability.:
`
`IPR2020-01192
`Apple EX1049 Page 17
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`

`

`WO 2007/101724
`
`GPS internal antenna
`
`16
`
`PCT/EP2007/002187
`
`The GPS internal antenna is attached directly to the RF PCB.
`
`GPS external (active) antenna switching
`
`When an external antenna is connected via the RF Docking Connector, the GPS antenna
`
`5
`
`source is automatically switched to the external antenna.
`
`Accelerometer
`
`A solid state accelerometer is connected directly to the processor to provide information
`
`about change of speed and direction.
`
`Auxiliary functions
`
`10
`
`Ignition synchronization
`
`Ignition wakeup
`
`A rising edge on the Docking Station IGNITION
`
`signal will wakeup the unit. The
`
`IGNITION signal may be connected to a 12V or 24V vehicle battery.
`
`Ignition state monitoring
`
`15
`
`The state of the Docking Station IGNITION
`
`signal is detected and fed to a GPIO pin
`
`to allow software to turn off the unit when the ignition signal goes low.
`
`Standard peripherals
`
`The following peripherals will be included as standard with Go.
`
`• Simple docking shoe. Mounts Go and allows charging through a DC jack. No
`
`20
`
`other connectivity is included in the simple dock.
`
`• Cigarette lighter power cable connecting to Go through the DC jack socket or
`
`simple docking shoe.
`
`• Mini USB cable for PC connectivity
`
`• Universal mains adapter for connection to DC Jack socket
`
`25 Optional peripherals
`
`The following optional peripherals will be available at or after the time of launch of Go
`
`• Active antenna kit. Contains a GPS active antenna and a docking shoe ,vith GPS
`
`RF connector and cable fitted. For self installation when an external antenna is
`
`required.
`
`30
`
`• Professional vehicle docking kit. For fitting by professional installation only.
`
`Allows direct connection to vehicle supply, audio system and active antenna via a
`
`vehicle interface box.
`
`IPR2020-01192
`Apple EX1049 Page 18
`
`

`

`WO 2007/101724
`
`CLAIMS
`
`17
`
`PCT/EP2007 /002187
`
`1.
`
`A portable navigation device comprising an accelerometer, a GPS receiver, and a
`
`calibration module, the calibration module generating calibration parameters that enable
`
`5
`
`acceleration data from the accelerometer
`
`to be accurately converted into speed and
`
`heading data, in which the calibration parameters are calculated from GPS derived speed
`
`and heading data and resolve or otherwise compensate for (i) the attitude of the portable
`
`device with respect to the horizontal plane and (ii) the angle between the forward
`
`direction of the device and the driving direction of a vehicle the device is mounted in.
`
`10
`
`2.
`
`The portable navigation device of Claim 1 in which the calibration parameters
`
`resolve or otherwise compensate for biases in observation due to the physical properties
`
`of the accelerometer.
`
`15
`
`3.