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公开(公告)号：EP3255382B1
公开(公告)日：2019-08-21
申请号：EP17172909.8
申请日：2017-05-24
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2.发明公开UPDATING INTENSITIES IN A PHD FILTER BASED ON A SENSOR TRACK ID 审中-公开EINEM PHD-FILTER AUF BASIC EINER SENSOR-TRACK-ID中的AKTUALISIERUNG DER INTENSITTEN
公开(公告)号：EP2980605A1
公开(公告)日：2016-02-03
申请号：EP15177590.5
申请日：2015-07-20
CPC分类号： G01C21/20 , G01D9/30 , G01D9/32 , G01S13/726 , G01S13/86 , G01S13/865 , G01S13/867 , G01S13/9303
摘要： In one embodiment, a method of tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes obtaining measurements corresponding to a first object with at least one sensor, the at least one sensor providing one or more first track IDs for the measurements. A T k+1 first predicted intensity is generated for the first object based on a T k first track intensity. A T k+1 measurement from a first sensor of the at least one sensors is obtained, the first sensor providing a second track ID for the T k+1 measurement. The second track ID is compared to the one or more first track IDs, and the T k+1 first predicted intensity is selectively updated with the T k+1 measurement based on whether the second track ID matches any of the one or more first track IDs to generate a T k+1 first measurement-to-track intensity for the first object.
摘要翻译： 在一个实施例中，提供了利用概率假设密度滤波器跟踪多个对象的方法。 该方法包括用至少一个传感器获得对应于第一物体的测量值，所述至少一个传感器为测量提供一个或多个第一轨道ID。 基于T k第一轨道强度，针对第一对象生成T k + 1第一预测强度。 获得来自至少一个传感器的第一传感器的T k + 1测量值，第一传感器为T k + 1测量提供第二轨迹ID。 将第二轨道ID与一个或多个第一轨道ID进行比较，并且基于第二轨道ID是否匹配一个或多个第一轨道中的任何一个，选择性地用T k + 1测量来更新T k + 1个第一预测强度 ID以产生第一对象的T k + 1第一测量到轨道强度。
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3.发明公开MERGING INTENSITIES IN A PHD FILTER BASED ON A SENSOR TRACK ID 审中-公开EUSEM PHD-FILTER AUF基于EUSER SENSOR-TRACK-ID的ZUSAMMENFÜHRUNGVON INTENSITTEN
公开(公告)号：EP2980604A1
公开(公告)日：2016-02-03
申请号：EP15177589.7
申请日：2015-07-20
CPC分类号： G01C21/00 , G01B21/16 , G01S13/726 , G01S13/86 , G01S13/865 , G01S13/867 , G01S13/9303
摘要： In one embodiment, a method of tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes generating a first intensity by combining a first one or more measurements, wherein a first set of track IDs associated with the first intensity includes track IDs corresponding to respective measurements in the first one or more measurements. A second intensity is generated by combining a second one or more measurements, wherein a second set of track IDs associated with the second intensity includes track IDs corresponding to respective measurements in the second one or more measurements. The first set of track IDs is compared to the second set of track IDs, and the first intensity is selectively merged with the second intensity based on whether any track IDs in the first set of track IDs match any track IDs in the second set of track IDs.
摘要翻译： 在一个实施例中，提供了利用概率假设密度滤波器跟踪多个对象的方法。 该方法包括通过组合第一个或多个测量来产生第一强度，其中与第一强度相关联的第一组轨道ID包括与第一个或多个测量中的相应测量对应的轨迹ID。 通过组合第二个一个或多个测量来产生第二强度，其中与第二强度相关联的第二组轨道ID包括对应于第二个或多个测量中的相应测量的轨迹ID。 将第一组轨道ID与第二组轨道ID进行比较，并且基于第一组轨道ID中的任何轨道ID是否与第二组轨道中的任何轨道ID匹配来选择性地与第二强度合并第一强度 标识。
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公开(公告)号：EP3981687A1
公开(公告)日：2022-04-13
申请号：EP21204715.3
申请日：2020-09-22
摘要： In an example, a recovery system is shown, the recovery system comprising: a housing; a parasail comprising a canopy coupled within the housing fastened by a releasable fastener, wherein the parasail is compressed into a compact mass and is configured to rapidly expand; primary ballistics attached to the parasail, wherein the primary ballistics are configured to launch the parachute from the housing; and a guidance system within the housing wherein the guidance system is configured to steer the parasail and guide the recovery system to a landing site.
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5.发明公开ADJUSTING WEIGHT OF INTENSITY IN A PHD FILTER BASED ON SENSOR TRACK ID 有权ADJUSTING强度的重量甲PHD滤波器开的传感器轨道ID的基础
公开(公告)号：EP2980602A1
公开(公告)日：2016-02-03
申请号：EP15176942.9
申请日：2015-07-15
CPC分类号： G01S13/66 , G01S13/726 , G01S13/86 , G01S13/865 , G01S13/867 , G01S13/9303 , G01S17/66
摘要： In one embodiment, a method for tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes comparing second track IDs corresponding to newly obtained measurements to one or more first track IDs corresponding to a T k+1 predicted intensity having a predicted weight. If all of the one or more first track IDs match any of the second track IDs, the predicted weight is multiplied by a first value. If less than all of the one or more first track IDs match any of the second track IDs, the predicted weight is multiplied by a second value, wherein the second value is greater than the first value. The method then determines whether to prune the T k+1 predicted intensity based on the predicted weight after multiplying with either the first value or the second value.
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公开(公告)号：EP4102183A1
公开(公告)日：2022-12-14
申请号：EP22175937.6
申请日：2022-05-27
摘要： A navigation system for a vehicle comprises onboard sensors including a vision sensor, and an onboard map database of terrain maps. An onboard processer, coupled to the sensors and map database, includes a position PDF filter, which performs a method comprising: receiving image data from the vision sensor corresponding to terrain images captured by the vision sensor of a given area; receiving map data from the map database corresponding to a terrain map of the area; generating a first PDF of image features in the image data; generating a second PDF of map features in the map data; generating a measurement vector PDF by a convolution of the first PDF and second PDF; estimating a position vector PDF using a nonlinear filter that receives the measurement vector PDF; and generating statistics from the estimated position vector PDF that include real-time measurement errors of position and angular orientation of the vehicle.
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公开(公告)号：EP3859389A1
公开(公告)日：2021-08-04
申请号：EP21163807.7
申请日：2015-07-20
IPC分类号： G01S13/93 , G01S13/72 , G01S13/86 , G01S13/933
摘要： In one embodiment, a method of tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes generating a first intensity by combining a first one or more measurements, wherein a first set of track IDs associated with the first intensity includes track IDs corresponding to respective measurements in the first one or more measurements. A second intensity is generated by combining a second one or more measurements, wherein a second set of track IDs associated with the second intensity includes track IDs corresponding to respective measurements in the second one or more measurements. The first set of track IDs is compared to the second set of track IDs, and the first intensity is selectively merged with the second intensity based on whether any track IDs in the first set of track IDs match any track IDs in the second set of track IDs.
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公开(公告)号：EP3527944B1
公开(公告)日：2020-07-08
申请号：EP19167067.8
申请日：2017-05-24
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9.发明公开
公开(公告)号：EP3255382A1
公开(公告)日：2017-12-13
申请号：EP17172909.8
申请日：2017-05-24
CPC分类号： G01C21/16 , G01C21/206 , G01C25/005
摘要： A method of mitigating filter inconsistency of a heading estimate in an inertial navigation system is provided. The method includes inputting inertial measurements from at least one low-performance inertial measurement unit (IMU) in the inertial navigation system; inputting an initial-heading from at least one heading-information source; inputting an initial-heading uncertainty level associated with an error in the inputted initial-heading; initializing an initial-heading estimate with the inputted initial-heading; initializing an initial-heading uncertainty estimate with the inputted initial-heading uncertainty level; initializing an accumulated heading-change estimate to zero at a startup of the at least one low-performance IMU; and initializing an accumulated heading-change uncertainty estimate with an initial accumulated heading-change uncertainty level that is a value less than the inputted initial-heading uncertainty level; and periodically updating the accumulated heading-change estimate with the inertial measurements input from the at least one low-performance IMU.
摘要翻译： 提供了一种减轻惯性导航系统中航向估计的滤波器不一致性的方法。 该方法包括：从惯性导航系统中的至少一个低性能惯性测量单元（IMU）输入惯性测量; 从至少一个航向信息源输入初始航向; 输入与输入的初始航向中的误差相关联的初始航向不确定性等级; 用输入的初始航向初始化初始航向估计; 用输入的初始航向不确定性水平初始化初始航向不确定性估计; 在所述至少一个低性能IMU的启动时将累积航向变化估计值初始化为零; 以及用初始累积航向变化不确定性水平来初始化累积航向变化不确定性估计，该初始累积航向变化不确定性水平是小于输入的初始航向不确定性水平 以及利用从所述至少一个低性能IMU输入的惯性测量周期性地更新所述累积航向变化估计。
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公开(公告)号：EP2980603B1
公开(公告)日：2017-09-13
申请号：EP15177585.5
申请日：2015-07-20
CPC分类号： G01C21/20 , G01B21/16 , G01S13/726 , G01S13/86 , G01S13/865 , G01S13/867 , G01S13/9303
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