ESTIMATING POSITIONS OF A DEVICE AND AT LEAST ONE TARGET IN AN ENVIRONMENT
First Claim
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1. A method of estimating a position of a device and at least one target in an environment, the method including computing a state vector defined by:
- a vector representing a position of the device with respect to an origin of a global coordinate reference frame;
a vector representing an estimated position of the at least one target with respect to an origin of an estimated local coordinate reference frame; and
an error state form based on a difference between the origin of the estimated local coordinate reference frame and an origin of a correction-free local coordinate reference frame in which a position of the device is assumed to be error-free.
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Abstract
A method/system for estimating a state of a device and at least one target in an environment. The process involves computing a state vector using an error state form of the position of the device in a local coordinate reference frame.
13 Citations
14 Claims
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1. A method of estimating a position of a device and at least one target in an environment, the method including computing a state vector defined by:
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a vector representing a position of the device with respect to an origin of a global coordinate reference frame; a vector representing an estimated position of the at least one target with respect to an origin of an estimated local coordinate reference frame; and an error state form based on a difference between the origin of the estimated local coordinate reference frame and an origin of a correction-free local coordinate reference frame in which a position of the device is assumed to be error-free. - View Dependent Claims (2, 3, 4, 6)
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5. A method of estimating a position of a device and at least one target in an environment, the method including computing a state vector defined by:
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a vector representing a position of the device with respect to an origin of an estimated local coordinate frame associated with the device; a vector representing an estimated position of the at least one target with respect to an origin of the estimated local coordinate reference frame; and an error state form based on a difference between the origin of the estimated local coordinate reference frame and an origin of a correction-free local coordinate reference frame in which a position of the device is assumed to be error-free.
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7. Apparatus configured to estimate a position of a device and at least one target in an environment, the apparatus including a device configured to compute a state vector defined by:
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a vector representing a position of the device with respect to an origin of a global coordinate reference frame; a vector representing an estimated position of the at least one target with respect to an origin of an estimated local coordinate reference frame; and an error state form based on a difference between the origin of the estimated local coordinate reference frame and an origin of a correction-free local coordinate reference frame in which a position of the device is assumed to be error-free. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A method of estimating a position of a device with respect to a global coordinate reference frame, the method including:
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defining a correction-free local coordinate reference frame associated with the device; defining an estimated local coordinate reference frame associated with the device; receiving error-free device position information describing a position of the device with respect to the error-free local coordinate reference frame; receiving information defining an error term based on a difference between the error-free device position and an estimate of the position of the device with respect to the estimated local coordinate reference frame; and computing a vector representing the position of the device with respect to a global coordinate reference frame based on sum of a vector based on the received device position and the error term.
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14. A method of estimating a position of a device with respect to a global coordinate reference frame, the method including:
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defining a correction-free local coordinate reference frame associated with the device; defining an estimated local coordinate reference frame associated with the device; receiving error-free device position information describing position of the device with respect to the error-free local coordinate reference frame; receiving information describing an error term based on a difference between an origin of the error-free coordinate reference frame and an origin of the estimated coordinate reference frame; and computing a vector representing the position of the device with respect to a global coordinate reference frame based on sum of a vector based on the received device position and the error term.
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Specification