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Systems and methods for using a sliding window of global positioning epochs in visual-inertial odometry

  • US 10,267,924 B2
  • Filed: 09/13/2017
  • Issued: 04/23/2019
  • Est. Priority Date: 01/04/2017
  • Status: Active Grant
First Claim
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1. A method for visual inertial odometry (VIO)-aided global positioning, comprising:

  • updating an extended Kalman filter (EKF) state comprising a current pose of an electronic device and a sliding window of multiple prior poses using measurements up to a current epoch, wherein the sliding window of multiple prior poses comprises poses of the electronic device at a number of most recent global positioning system (GPS) time epochs, wherein the updating comprises updating an EKF covariance matrix for the prior poses and the current pose in the EKF state;

    determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose;

    determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix;

    using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs; and

    controlling a vehicle based on the fused pseudorange measurements.

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