公开(公告)号：US20150092985A1

公开(公告)日：2015-04-02

申请号：US14497135

申请日：2014-09-25

Applicant: QUALCOMM Incorporated

Inventor： Mahesh RAMACHANDRAN ,  Arvind RAMANANDAN ,  Christopher BRUNNER ,  Abhishek TYAGI ,  Murali Ramaswamy CHARI ,  Mingyang LI

IPC: G06T7/20

CPC classification number: G06T7/246 ,  G01C21/165 ,  G01S5/0263 ,  G01S5/0294 ,  G01S19/39 ,  G06T7/277 ,  G06T2207/10004 ,  G06T2207/10016

Abstract: Techniques are disclosed for estimating one or more parameters in a system. A device obtains measurements corresponding to a first set of features and a second set of features. The device estimates the parameters using an extended Kalman filter based on the measurements corresponding to the first set of features and the second set of features. The measurements corresponding to the first set of features are used to update the one or more parameters, and information corresponding to the first set of features. The measurements corresponding to the second set of features are used to update the parameters and uncertainty corresponding to the parameter. In on example, information corresponding to the second set of features is not updated during the estimating. Moreover, the parameters are estimated without projecting the information corresponding to the second set of features into a null-space.

Abstract translation: 公开了用于估计系统中的一个或多个参数的技术。 设备获得对应于第一组特征和第二组特征的测量。 该设备基于与第一组特征和第二组特征相对应的测量使用扩展卡尔曼滤波器来估计参数。 对应于第一组特征的测量用于更新一个或多个参数以及对应于第一组特征的信息。 对应于第二组特征的测量用于更新与参数对应的参数和不确定性。 在示例中，在估计期间不更新与第二组特征相对应的信息。 此外，估计参数而不将与第二组特征对应的信息投影到空空间中。