Invention Grant
- Patent Title: Decomposition of error components between angular, forward, and sideways errors in estimated positions of a computing device
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Application No.: US16884150Application Date: 2020-05-27
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Publication No.: US11262213B2Publication Date: 2022-03-01
- Inventor: Etienne Le Grand , Brian Patrick Williams
- Applicant: Google LLC
- Applicant Address: US CA Mountain View
- Assignee: Google LLC
- Current Assignee: Google LLC
- Current Assignee Address: US CA Mountain View
- Agency: McDonnell Boehnen Hulbert & Berghoff LLP
- Main IPC: G01C25/00
- IPC: G01C25/00 ; H04W4/02 ; G01S19/13 ; H04W4/029 ; G01C21/12 ; G01C22/00 ; G01S19/49 ; G01S5/02 ; G01C19/00

Abstract:
Examples include systems and methods for decomposition of error components between angular, forward, and sideways errors in estimated positions of a computing device. One method includes determining an estimation of a current position of the computing device based on a previous position of the computing device, an estimated speed over an elapsed time, and a direction of travel of the computing device, determining a forward, sideways, and orientation change error component of the estimation of the current position of the computing device, determining a weight to apply to the forward, sideways, and orientation change error components based on average observed movement of the computing device, and using the weighted forward, sideways, and orientation change error components as constraints for determination of an updated estimation of the current position of the computing device.
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