BR112022021660A2 - Aparelho de navegação e método em que erros de medição de quantização são modelados como estados - Google Patents
Aparelho de navegação e método em que erros de medição de quantização são modelados como estadosInfo
- Publication number
- BR112022021660A2 BR112022021660A2 BR112022021660A BR112022021660A BR112022021660A2 BR 112022021660 A2 BR112022021660 A2 BR 112022021660A2 BR 112022021660 A BR112022021660 A BR 112022021660A BR 112022021660 A BR112022021660 A BR 112022021660A BR 112022021660 A2 BR112022021660 A2 BR 112022021660A2
- Authority
- BR
- Brazil
- Prior art keywords
- quantization error
- state
- covariance matrix
- final
- initial
- Prior art date
Links
- 238000013139 quantization Methods 0.000 title abstract 9
- 238000005259 measurement Methods 0.000 title abstract 5
- 238000000034 method Methods 0.000 title abstract 2
- 239000011159 matrix material Substances 0.000 abstract 5
- 230000000875 corresponding effect Effects 0.000 abstract 2
- 230000002596 correlated effect Effects 0.000 abstract 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
APARELHO DE NAVEGAÇÃO E MÉTODO EM QUE ERROS DE MEDIÇÃO DE QUANTIZAÇÃO SÃO MODELADOS COMO ESTADOS. A presente invenção refere-se a um aparelho de navegação que determina uma posição estimada de um objeto. A informação de navegação que inclui uma sequência de medições quantizadas é recebida. Cada medição quantizada tem um erro de quantização correspondente que está negativamente correlacionado com o erro de quantização de uma medição quantizada anterior. O aparelho realiza iterativamente uma operação de atualização de navegação que inclui determinar um estado e uma matriz covariância do objeto para uma iteração atual com base em um estado e matriz covariância em uma iteração anterior. O estado inclui um erro de quantização final e um erro de quantização inicial. A matriz covariância inclui valores de covariância final e inicial correspondentes aos erros de quantização final e inicial, respectivamente. Determinar o estado e a matriz covariância para a iteração atual inclui substituir o erro de quantização inicial pelo erro de quantização final determinado em uma iteração anterior, e atualizar o estado e a matriz covariância por meio de uma operação de atualização de filtro de Kalman.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US202063019213P | 2020-05-01 | 2020-05-01 | |
| US17/235,856 US11650324B2 (en) | 2020-05-01 | 2021-04-20 | Navigation apparatus and method in which measurement quantization errors are modeled as states |
| PCT/US2021/028606 WO2021221989A1 (en) | 2020-05-01 | 2021-04-22 | Navigation apparatus and method in which measurement quantization errors are modeled as states |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| BR112022021660A2 true BR112022021660A2 (pt) | 2022-12-20 |
Family
ID=78292769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| BR112022021660A BR112022021660A2 (pt) | 2020-05-01 | 2021-04-22 | Aparelho de navegação e método em que erros de medição de quantização são modelados como estados |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US11650324B2 (pt) |
| EP (1) | EP4143507B1 (pt) |
| CN (1) | CN115485527A (pt) |
| AU (1) | AU2021263533A1 (pt) |
| BR (1) | BR112022021660A2 (pt) |
| WO (1) | WO2021221989A1 (pt) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114739391A (zh) * | 2022-04-06 | 2022-07-12 | 重庆工商大学 | 跟踪目标的定位优化方法 |
| CN115790615B (zh) * | 2023-01-30 | 2023-05-05 | 安徽蔚来智驾科技有限公司 | 基于自动驾驶的多传感器融合方法、装置、介质及车辆 |
| CN116222584B (zh) * | 2023-05-10 | 2023-07-25 | 北京白水科技有限公司 | 群组导航定位中的分组信息的确定方法、装置及设备 |
| CN117951605B (zh) * | 2024-03-26 | 2024-06-07 | 苏州元脑智能科技有限公司 | 扩散模型的量化方法、装置、计算机设备及存储介质 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7994971B2 (en) * | 2008-01-09 | 2011-08-09 | Mayflower Communications Company, Inc. | GPS-based measurement of roll rate and roll angle of spinning platforms |
| CN103620444B (zh) * | 2011-03-22 | 2015-07-29 | 天宝导航有限公司 | 使用用于重新收敛的电离层桥接的gnss信号处理 |
| WO2015145719A1 (ja) * | 2014-03-28 | 2015-10-01 | 三菱電機株式会社 | 測位装置 |
| CN110275192B (zh) * | 2019-05-22 | 2021-01-26 | 东南大学 | 一种基于智能手机的高精度单点定位方法与装置 |
-
2021
- 2021-04-20 US US17/235,856 patent/US11650324B2/en active Active
- 2021-04-22 AU AU2021263533A patent/AU2021263533A1/en active Pending
- 2021-04-22 WO PCT/US2021/028606 patent/WO2021221989A1/en unknown
- 2021-04-22 CN CN202180031465.1A patent/CN115485527A/zh active Pending
- 2021-04-22 EP EP21724945.7A patent/EP4143507B1/en active Active
- 2021-04-22 BR BR112022021660A patent/BR112022021660A2/pt unknown
Also Published As
| Publication number | Publication date |
|---|---|
| CN115485527A (zh) | 2022-12-16 |
| WO2021221989A1 (en) | 2021-11-04 |
| EP4143507A1 (en) | 2023-03-08 |
| EP4143507B1 (en) | 2024-05-29 |
| AU2021263533A1 (en) | 2022-11-17 |
| US11650324B2 (en) | 2023-05-16 |
| US20210341624A1 (en) | 2021-11-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| BR112022021660A2 (pt) | Aparelho de navegação e método em que erros de medição de quantização são modelados como estados | |
| BR112018072627A2 (pt) | realização de medições óticas em uma amostra | |
| Vichare et al. | Cellular mechanoadaptation to substrate mechanical properties: contributions of substrate stiffness and thickness to cell stiffness measurements using AFM | |
| DE602008006680D1 (de) | System und verfahren zur erzeugung einer positionsschätzung mithilfe nicht gleichförmiger rasterpunkte | |
| JP2019512869A5 (pt) | ||
| AR108662A1 (es) | Método de cálculo de errores en estimaciones de precipitación por radar en base a mediciones de pluviómetros | |
| BRPI1000048A2 (pt) | método para determinar o peso bruto de um veìculo | |
| BR112017019353A2 (pt) | mitigação de desligamento (do) de posicionamento dinâmico (dp) com sistema de navegação inercial | |
| BRPI0922052A2 (pt) | Método para determinar o risco de pré-eclâmpsia usando os marcadores pigf-2 e pigf-3 | |
| SG11201808608UA (en) | Projection exposure apparatus and method | |
| BR112023017346A2 (pt) | Geração e execução de fluxos de trabalho de processamento para corrigir problemas de qualidade de dados em conjuntos de dados | |
| EP4235306A3 (en) | Method for determining a sampling scheme, a semiconductor substrate measurement apparatus, a lithographic apparatus | |
| CN109668562A (zh) | 一种考虑偏差时引入伪测量的重力梯度运动学导航方法 | |
| DE602007008517D1 (de) | Anpassung mehrdimensionaler messdaten an toleranzbereiche unter berücksichtigung von messunsicherheiten | |
| BR112018012300A2 (pt) | sistema, método e produto de programa de computador para medir características elétricas de biopartículas, e uso de um sistema | |
| CL2016002429A1 (es) | Procedimiento y programa informatico para el analisis del conjunto de datos masivos existente en billetes de pasajeros de compañias aereas. | |
| Zhikun et al. | Temperature model for FOG zero-bias using Gaussian process regression | |
| BR112021005774A2 (pt) | ensaios de neurotoxina de clostridiana à base de célula | |
| BR112018071395A2 (pt) | métodos de identificação de pacientes, método de previsão do risco de progressão para lvh, método de diferenciação em pacientes, métodos de previsão se pacientes se encontram com risco de progressão para lvh e uso | |
| Almagbile et al. | An integrated adaptive Kalman filter for improving the reliability of navigation systems | |
| CN206247966U (zh) | 一种便于读数的卡尺游标 | |
| BR112019007138A2 (pt) | método e sistema de análise para testagem de uma amostra | |
| CN105682910B (zh) | 使用瞬态效应的估计改进轮胎的均匀性 | |
| BR112018003988A8 (pt) | Método para a medição do nível de pressão sonora de um objeto de medição operado com alta tensão | |
| CN115867926A (zh) | 使用机器学习的工具漂移补偿 |