公开(公告)号：US11632823B1

公开(公告)日：2023-04-18

申请号：US17210284

申请日：2021-03-23

Applicant: Waymo LLC

Inventor： Shawn Nematbakhsh ,  Alec Berg ,  Craig Robinson ,  Alexander Zbrozek

IPC: H04W84/18 ,  H04W4/48 ,  H04L12/40 ,  H04W8/06

Abstract: Systems and methods for estimating sensor timestamps by oversampling are provided. One example method involves observing, at a sampling frequency, sensor data from a register of a sensor. The sensor updates the register with sensor data at as sensor update frequency. The sampling frequency is different from the sensor update frequency. The method also involves generating, based on the sensor update frequency and the sampling frequency, an observed sequence representing the sensor data. The observed sequence indicates whether the register is observed to be updated or not updated. The method also involves estimating, from the observed sequence, the sensor update frequency and a sensor update phase. The method also involves determining, based on the sensor update frequency as estimated and the sensor update phase as estimated, a timestamp corresponding to an update of the register.

公开(公告)号：US11959776B2

公开(公告)日：2024-04-16

申请号：US17437131

申请日：2020-03-13

Applicant: WAYMO LLC

Inventor： Craig Robinson ,  Alec Berg

IPC: G01D18/00 ,  G01B7/16 ,  G01C19/00 ,  G01D5/14 ,  G01S13/931 ,  G01S17/931

CPC classification number: G01D18/001 ,  G01B7/22 ,  G01C19/00 ,  G01D5/145 ,  G01S13/931 ,  G01S17/931

Abstract: One example method involves generating a calibration control signal that causes an actuator to rotate a first platform at least one complete rotation about an axis. The method also involves receiving encoder output signals. The encoder output signals are indicative of angular positions of the first platform about the axis. The method also involves receiving sensor output signals from an orientation sensor mounted on the first platform. The sensor output signals are indicative of a rate of change to an orientation of the orientation sensor. The method also involves determining calibration data based on given sensor output signals received from the orientation sensor during the at least one complete rotation. The calibration data is for mapping the encoder output signals to calibrated measurements of the angular positions of the first platform about the axis.