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System for incremental trajectory estimation based on real time inertial sensing

  • US 10,408,622 B2
  • Filed: 11/28/2017
  • Issued: 09/10/2019
  • Est. Priority Date: 11/29/2016
  • Status: Active Grant
First Claim
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1. A system for incremental trajectory estimation of an implement, the system comprising:

  • one or more processors and a memory, the memory being a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of;

    determining a time span of each stationary period of the implement based on accelerometer and gyroscopic data;

    estimating gyroscopic bias based on the time span and gyroscopic data;

    estimating attitude at each time step based on the estimated gyroscopic bias, accelerometer and gyroscopic data, wherein each time step is a time measurement between stationary periods;

    estimating a traveling distance of the implement at each time step;

    estimating at least one of a first trajectory of the implement based on the estimated attitude and traveling distance, a second trajectory of the implement, a weighted combined trajectory of the implement, and an optimized trajectory of the implement; and

    causing the implement to alter direction based on at least one of the first trajectory, the second trajectory, the weighted combined trajectory, and the optimized trajectory.

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