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ESTIMATING POSITIONS OF A DEVICE AND AT LEAST ONE TARGET IN AN ENVIRONMENT

  • US 20120122486A1
  • Filed: 07/22/2010
  • Published: 05/17/2012
  • Est. Priority Date: 07/28/2009
  • Status: Active Grant
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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