Sensor fusion
First Claim
1. A method for determining positional information of a movable object, said method comprising:
- receiving data from a first sensing system coupled to the movable object, said first sensing system comprising a first sensor configured to obtain a first signal useful for determining the positional information of the movable object;
receiving data from a second sensing system coupled to the movable object, said second sensing system comprising a second sensor configured to obtain a second signal useful for determining the positional information of the movable object;
receiving data outputted by a third sensing system coupled to the movable object, said third sensing system comprising a third sensor configured to obtain a third signal useful for determining the positional information of the movable object;
determining, with aid of a processor, a second weight value for the data from the second sensing system based on a strength of the second signal received by the second sensor;
generating, with aid of the processor, an estimation of a positional change of the movable object based on (i) the data from the first sensing system and (ii) the data from the second sensing system factoring in the second weight value;
processing the data outputted by the third sensing system by selecting a portion of the data outputted by the third sensing system according to the estimation of the positional change as processed data; and
calculating, with aid of the processor, the positional information of the movable object based on (a) the estimation of the positional change of the movable object, and (b) the processed data.
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Accused Products
Abstract
Systems, methods, and devices are provided for collecting positional information for and controlling a movable object. In one aspect of the present disclosure, a method for collecting positional information for a movable object includes: receiving data from a first sensing system coupled to the movable object; receiving data from a second sensing system coupled to the movable object; determining a weight value for the data from the second sensing system based on a strength of the signal received by the sensor of the second sensing system; and calculating the positional information of the movable object based on (i) the data from the first sensing system and (ii) data from the second system factoring in the weight value.
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Citations
20 Claims
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1. A method for determining positional information of a movable object, said method comprising:
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receiving data from a first sensing system coupled to the movable object, said first sensing system comprising a first sensor configured to obtain a first signal useful for determining the positional information of the movable object; receiving data from a second sensing system coupled to the movable object, said second sensing system comprising a second sensor configured to obtain a second signal useful for determining the positional information of the movable object; receiving data outputted by a third sensing system coupled to the movable object, said third sensing system comprising a third sensor configured to obtain a third signal useful for determining the positional information of the movable object; determining, with aid of a processor, a second weight value for the data from the second sensing system based on a strength of the second signal received by the second sensor; generating, with aid of the processor, an estimation of a positional change of the movable object based on (i) the data from the first sensing system and (ii) the data from the second sensing system factoring in the second weight value; processing the data outputted by the third sensing system by selecting a portion of the data outputted by the third sensing system according to the estimation of the positional change as processed data; and calculating, with aid of the processor, the positional information of the movable object based on (a) the estimation of the positional change of the movable object, and (b) the processed data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A system for determining positional information of a movable object, said system comprising:
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a first sensing system coupled to the movable object, said first sensing system comprising a first sensor configured to obtain a first signal useful for determining the positional information of the movable object; a second sensing system coupled to the movable object, said second sensing system comprising a second sensor configured to obtain a second signal useful for determining the positional information of the movable object; and a third sensing system coupled to the movable object, said third sensing system comprising a third sensor configured to obtain a third signal useful for determining the position information of the movable object; a processor configured to; determine a second weight value for data received from the second sensing system based on a strength of the second signal; generate an estimation of a positional change of the movable object based on (i) data from the first sensing system and (ii) the data from the second sensing system factoring in the second weight value; process data output by the third sensing system by selecting a portion of the data outputted by the third sensing system according to the estimation of the positional change as processed data; and calculate the positional information of the movable object based on (i) the estimation of the positional change of the movable object, and (ii) the processed data. - View Dependent Claims (19, 20)
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Specification