公开(公告)号：US20130332065A1

公开(公告)日：2013-12-12

申请号：US13916479

申请日：2013-06-12

Applicant: TRX Systems, Inc.

Inventor： Daniel Hakim ,  Christopher Giles ,  John Karvounis ,  Benjamin Funk ,  Jared Napora ,  Carole Teolis

IPC: G01C21/12

CPC classification number: G01C21/12 ,  G01C21/165 ,  G01C21/206 ,  G01S5/0205 ,  G01S5/0263 ,  G01S5/0268 ,  H04W64/00

Abstract: Disclosed herein are methods and systems for fusion of sensor and map data using constraint based optimization. In an embodiment, a computer-implemented method may include obtaining tracking data for a tracked subject, the tracking data including data from a dead reckoning sensor; obtaining constraint data for the tracked subject; and using a convex optimization method based on the tracking data and the constraint data to obtain a navigation solution. The navigation solution may be a path and the method may further include propagating the constraint data by a motion model to produce error bounds that continue to constrain the path over time. The propagation of the constraint data may be limited by other sensor data and/or map structural data.

Abstract translation: 这里公开了使用基于约束的优化来融合传感器和地图数据的方法和系统。 在一个实施例中，计算机实现的方法可以包括获得跟踪对象的跟踪数据，跟踪数据包括来自航位推算传感器的数据; 获得跟踪对象的约束数据; 并使用基于跟踪数据和约束数据的凸优化方法获得导航解。 导航解决方案可以是路径，并且该方法还可以包括通过运动模型传播约束数据以产生继续约束路径随时间变化的误差界限。 约束数据的传播可能受到其他传感器数据和/或地图结构数据的限制。