DETERMINING VELOCITY USING MULTIPLE SENSORS

• US 20100211317A1
• Filed: 02/13/2009
• Published: 08/19/2010
• Est. Priority Date: 02/13/2009
• Status: Active Grant

• Current Assignee: Microsoft Technology Licensing LLC (Microsoft Corporation)
• Original Assignee: Microsoft Corporation
• Inventors: Lawler, Stephen L., Kimchi, Gur, Kroepfl, Michael, Pehserl, Joachim, Bauer, Joachim, Curlander, John
• Granted Patent: US 8,244,431 B2
• Time in Patent Office: Days
• US Class Current: 701/220
• CPC Class Codes: G01P 15/16 by evaluating the time-derivative of a measured speed signal
• CPC Class Codes: G01P 3/366 by using diffraction of light for measuring speed of fluids G01P5/26
• CPC Class Codes: G01P 3/50 for measuring linear speed G01P3/56 takes precedence
• CPC Class Codes: G01P 3/56 for comparing two speeds
• CPC Class Codes: G01P 7/00 Measuring speed by integrating acceleration measuring travelled distance by double integration of acceleration G01C21/16

Abstract

A system described herein includes a receiver component that receives first velocity data that is indicative of a velocity of a vehicle over a period of time, wherein the first velocity data corresponds to a first sensor. The receiver component also receives second velocity data that is indicative of the velocity of the vehicle over the period of time, wherein the second velocity data corresponds to a second sensor. The system also includes a modifier component that determines a difference between the first velocity data and the second velocity data and outputs at least one final velocity value for the vehicle based at least in part upon the first difference data.

Claims

1. A method for determining velocity of a vehicle comprising the following computer-executable acts:

receiving first acceleration data that is indicative of a velocity of the vehicle over a period of time, wherein the first acceleration data corresponds to a first sensor;

receiving second acceleration data that is indicative of a velocity of the vehicle over the period of time, wherein the second acceleration data corresponds to a second sensor;

determining first difference data that is a difference between the first velocity data and the second velocity data;

determining final velocity data that is a velocity of the vehicle based at least in part upon the first difference data; and

outputting the final velocity data.

2. The method of claim 1, wherein the first sensor is a velocity sensor and the second sensor is an accelerometer.

3. The method of claim 2, further comprising:

receiving first velocity data from the velocity sensor; and

performing a differentiation on the first velocity data to generate the second acceleration data.

4. The method of claim 3, further comprising:

performing an integration on the first acceleration data to generate second velocity data;

determining second difference data that is a difference between the first velocity data and the second velocity data;

performing a Gaussian filter operation on the first difference data to generate first filtered data; and

determining the final velocity data based at least in part upon the first filtered data and the second difference data.

5. The method of claim 4, further comprising:

performing an integration on the first filtered data to generate second filtered data;

determining third difference data that is a difference between the second filtered data and the second difference data;

performing a morphological filter operation on the third difference data to create third filtered data; and

determining the final velocity data based at least in part upon the third filtered data.

6. The method of claim 5, further comprising:

adding the second filtered data to the third filtered data to create fourth filtered data; and

determining the final velocity data based at least in part upon the fourth filtered data.

7. The method of claim 6, further comprising:

subtracting the fourth filtered data from the second velocity data to generate the final velocity data.

8. The method of claim 1, further comprising determining a geographic location of the vehicle based at least in part upon the final velocity data.

9. The method of claim 1, wherein the vehicle is an automobile.

10. The method of claim 1, further comprising correlating at least a portion of the final velocity data with at least one image.

11. The method of claim 10, further comprising generating a three-dimensional representation of a building based at least in part upon the determined final velocity data and the at least one image.

12. The method of claim 1, wherein the first sensor is a velocity sensor that uses the Doppler effect to determine the first velocity data.

13. The method of claim 1, wherein the second sensor is a MEMs acceleration sensor.

14. A system comprising the following computer-executable components:

a receiver component that receives;

first velocity data that is indicative of a velocity of a vehicle over a period of time, wherein the first velocity data corresponds to a first sensor; and

second velocity data that is indicative of the velocity of the vehicle over the period of time, wherein the second velocity data corresponds to a second sensor; and

a modifier component that;

determines a difference between the first velocity data and the second velocity data; and

outputs at least one final velocity value for the vehicle based at least in part upon the difference.

15. The system of claim 14, wherein the first sensor is a velocity sensor mounted to the vehicle and the second sensor is an accelerometer mounted to the vehicle.

16. The system of claim 15, wherein the first sensor uses the Doppler effect to output the first data, and the second sensor is a MEMs acceleration sensor.

17. The system of claim 14, wherein the first velocity data corresponds to first acceleration data and the second velocity data corresponds to second acceleration data, and further comprising a first filter component that executes a Gaussian filter operation on a difference between the first acceleration data and the second acceleration data to generate first filtered data, wherein the modifier component determines the at least one final velocity value based at least in part upon the first filtered data.

18. The system of claim 17, further comprising:

an integrator component that performs an integration on the first filtered data to create second filtered data; and

a difference determiner component that determines a difference between the second filtered data and the difference between the first and second velocity data, wherein the modifier component determines the at least one final velocity value based at least in part upon the difference between the second filtered data and the difference between the first and second velocity data.

19. The system of claim 18, further comprising:

a second filter component that performs a morphological filter operation over the second difference data to generate third filtered data, wherein the modifier component determines the at least one final velocity value based at least in part upon the third filtered data.

20. A computer-readable medium comprising instructions that, when executed by a processor, perform the following acts:

receive first velocity data from a velocity sensor;

receive first acceleration data from an accelerometer;

generate second velocity data using the first acceleration data;

generate second acceleration data using the first velocity data;

determine a difference between the first acceleration data and the second acceleration data to generate first difference data;

determine a difference between the first velocity data and the second velocity data to generate second difference data;

perform a Gaussian filter operation on the first difference data to generate first filtered data;

perform an integration on the first filtered data to generate second filtered data;

determine a difference between the second filtered data and the second velocity data to generate third difference data;

perform a morphological filter operation on the third difference data to generate third filtered data;

add the second filtered data with the third filtered data to generate fourth filtered data;

subtract the fourth filtered data from the second velocity data to generate final velocity data.