公开(公告)号：WO2014006423A3

公开(公告)日：2014-03-13

申请号：PCT/GB2013051793

申请日：2013-07-05

Applicant: SENSEWHERE LTD

Inventor： SUN RONGZE ,  ARSLAN TUGHRUL SATI ,  ALSEHLY FIRAS ,  SEVAK ZANKAR UPENDRAKUMAR

IPC: G01C21/20 ,  G01C21/12 ,  G01C22/00

CPC classification number: H04W64/006 ,  G01C21/12 ,  G01C21/206 ,  G01C22/006 ,  H04W4/04

Abstract: The invention provides a method of estimating the position of a user device carried by a user, the method comprising: providing an initial position of the user device; measuring a vertical acceleration of the user device, thereby generating vertical acceleration data; measuring an orientation of the user device, thereby generating principal direction data; processing the vertical acceleration data to detect one or more steps taken by the user, and subsequently validating the detection of one or more of said one or more steps; generating one or more motion vectors in respect of the validated steps taken by the user using the principal direction data; and estimating an updated position of the user device by combining the motion vector(s) with the initial position. The method may be used by, for example, a smartphone to estimate its position, particularly where other positioning systems are unavailable.

Abstract translation: 本发明提供了一种估计用户携带的用户装置的位置的方法，该方法包括：提供用户装置的初始位置; 测量用户设备的垂直加速度，从而生成垂直加速度数据; 测量用户设备的方向，由此生成主方向数据; 处理垂直加速度数据以检测用户采取的一个或多个步骤，并且随后验证对所述一个或多个步骤中的一个或多个的检测; 关于用户使用主方向数据所采用的经验证步骤产生一个或多个运动矢量; 以及通过组合运动矢量与初始位置来估计用户设备的更新位置。 该方法可以被例如智能手机用于估计其位置，特别是在其他定位系统不可用的情况下。

公开(公告)号：WO02054102A2

公开(公告)日：2002-07-11

申请号：PCT/US2002/000206

申请日：2002-01-04

IPC: G01C21/12 ,  G01C22/00 ,  G01S1/00

CPC classification number: G01C21/12 ,  G01C22/006

Abstract: A system for determining a position of a user. The system includes a distance sensor (12) in communication with a position tracking device (14). The distance sensor is for detecting movement by the user, and the position tracking device is for determining the position of the user based on detection of movement by the user and a relative change in direction input from the user.

Abstract translation: 本发明涉及一种用于确定用户的位置的系统。 该系统包括与位置探测器（14）通信的距离探测器（12）。 距离检测器用于检测用户的移动，并且位置查找器用于基于检测到用户的移动和输入的相对改变来确定用户的位置。 用户管理。

公开(公告)号：WO01013192A1

公开(公告)日：2001-02-22

申请号：PCT/EP2000/006951

申请日：2000-07-20

IPC: G01B7/00 ,  B60R21/00 ,  B65G1/00 ,  B65G1/04 ,  B65G1/137 ,  B65G63/00 ,  B66F9/24 ,  G01B11/00 ,  G01B21/00 ,  G01C21/00 ,  G01C21/12 ,  G05D1/02 ,  G05D1/03

CPC classification number: G05D1/0272 ,  B60T2201/08 ,  B60T2201/089 ,  G01C21/12 ,  G05D1/0236 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0297 ,  G05D2201/0216

Abstract: The invention relates to a method and a device for detecting the position of a vehicle (F1-F4) in a given area (100), especially a storage facility. The inventive method comprises the following steps: the size and angle of incremental movement vectors relating to the movement of the vehicle (F-1) is detected; a respective reference position of the vehicle (F1-F4) is automatically determined at predetermined locations (O1-O4) inside the given area (100) whenever the vehicle (F1-F4) passes a corresponding location (O1-O4); the current position of the vehicle (F1-F4) inside the given area (100) is detected by means of vectorial summation of the detected incremental movement vectors with respect to the location vector of the temporary reference position. Automatic determination is carried out by a sensor (L1, L2, MS) which is arranged on the vehicle (F1-F4) and interacts in a contactless manner with a respective reference marking (MS) in the corresponding location (O1-O4) exhibiting reflecting and non-reflecting areas (R1, R2; D) which are scanned simultaneously by the vehicle (F1-F4) by means of at least two signals (ST1,ST2). The coordinates (x,y) of the reference position and, optionally, the angle of passage ( alpha ) are determined by evaluating the variation in time of the reflected intensity of said signals (ST1,ST2).

Abstract translation: 本发明提供了一种用于在预定的范围（100）内检测车辆（F1-F4）的位置，特别是轴承装置的方法和设备。 它携带检测幅度和车辆（F1-F4）的运动的增量运动矢量的角度; 自动在指定的范围（100）的每个时间在车辆（F1-F4）内的预定位置（O1-O4）设置在车辆（F1-F4）的各个参考位置经过的相应位置（O1-O4）; 和检测在由所检测到的增量运动矢量在当前参考位置的位置矢量的矢量求和的预定区域（100）的车辆（F1-F4）的当前位置。 在这种情况下，自动设置安装由车辆的装置（F1-F4）第二传感器装置（L1，L2; MS）进行，其非接触地与指定的范围内的相应参考标记（MS）在相应的位置（O1-O4）（100） 相配合，反射和非反射区域（R1，R2; D），其通过至少两个信号（ST1，ST2）扫描时，基准位置的坐标（x，y）和OPTIO简称AE，下同，的装置具有同时在车辆（F1-F4）的 中转角（阿尔法）通过信号（ST1，ST2）的反射强度的时间过程的评价被确定。

公开(公告)号：WO1995022041A1

公开(公告)日：1995-08-17

申请号：PCT/US1995001859

申请日：1995-02-14

Applicant: THE REGENTS OF THE UNIVERSITY OF MICHIGAN

Inventor： THE REGENTS OF THE UNIVERSITY OF MICHIGAN ,  BORENSTEIN, Johann

IPC: G01C21/12

CPC classification number: G01C21/12 ,  G05D1/0255 ,  G05D1/0272

Abstract: An improved device and method for performing accurate mobile robot dead-reckoning by performing Internal Position Error Correction (IPEC) which corrects systematic as well as non-systematic dead-reckoning errors. A first variation utilizes a smart encoder trailer (22) which adapts an existing dead-reckoning mobile robot (20). A second variation (71) provides a pair of robotic vehicles (72, 74) coupled with a compliant linkage (76) which monitors relative positioning between the vehicles (72, 74) in order to perform internal position error correction. A third and final variation utilizes a pair of decoupled mobile robotic vehicles (110, 112), each performing dead-reckoning, further provided with individual transmitter (122, 124) and receiver (126, 128) arrays which determine relative positioning therebetween in order to perform internal position error correction.

Abstract translation: 一种改进的设备和方法，用于通过执行内部位置误差校正（IPEC）来执行精确的移动机器人推算，其校正系统和非系统的推算误差。 第一变型使用智能编码器拖车（22），其适应现有的推算机器人（20）。 第二变型（71）提供一对机器人车辆（72,74），该机器人车辆与顺应性联动装置（76）联接，该顺应联动装置监测车辆（72,74）之间的相对定位，以执行内部位置误差校正。 第三和最后的变型使用一对解耦的移动机器人车辆（110,112），每一个执行推算，进一步提供有单独的发射器（122,124）和接收器（126,128）阵列，其依次确定它们之间的相对定位 执行内部位置误差校正。

公开(公告)号：WO1987003083A1

公开(公告)日：1987-05-21

申请号：PCT/US1986002410

申请日：1986-11-04

Applicant: MORRISON, Melvin, M.

IPC: G01C21/12

CPC classification number: G01C21/16 ,  G01P15/18

Abstract: An inertial measurement unit (10) which provides three axis acceleration and angular turning rate detection with a cubical magnetically suspended sensor mass (50) disposed within a cubical outer assembly (32). This sensor mass (50) is free to move mechanically independent from the outer assembly (32). The sensor mass (50) has a plurality of sensing and suspension elements (54, 56) of particular orientation on a selected plane for each axis of detection which face a corresponding set of sensing and suspension elements (40, 42) respectively on interior surfaces of said outer assembly. The sensing elements (40, 54) are advantageously cross-coupled to minimize cross-axis sensitivity. The invention utilizes several servo-control loops of conventional design to process outputs from the sensing elements (40, 54) and maintain the sensor mass (50) in proper orientation.

公开(公告)号：WO1984001823A1

公开(公告)日：1984-05-10

申请号：PCT/DE1983000177

申请日：1983-10-21

Applicant: ROBERT BOSCH GMBH ,  FREIENSTEIN, Bernd ,  NEUKIRCHNER, Ernst, Peter ,  PILSAK, Otmar ,  SCHLÖGL, Dietmar

Inventor： ROBERT BOSCH GMBH

IPC: G01C21/12

CPC classification number: G01C21/28 ,  G01C22/02 ,  G01C22/025 ,  G06K15/00 ,  G06K2215/0088

Abstract: Method and device for guiding road vehicles, particularly usable in densely interconnected road networks. A vehicle apparatus is used with a desired destination input unit and road instruction output unit. The vehicle position finding (determination of the road taken and the travelling direction) is carried out by the detection and analysis of the wheel turns of a non driven vehicle axle. When determining the travelling direction, a correction factor depending on the speed and the curve radius is taken into consideration.

Abstract translation: 用于引导道路车辆的方法和装置，特别可用于密集相连的道路网络。 车辆装置与期望的目的地输入单元和道路指令输出单元一起使用。 通过检测和分析非从动车辆车轮的车轮转弯来进行车辆位置查找（所采取的路线的确定和行进方向）。 当确定行进方向时，考虑到取决于速度和曲线半径的校正因子。

公开(公告)号：WO2022268420A1

公开(公告)日：2022-12-29

申请号：PCT/EP2022/063876

申请日：2022-05-23

Applicant: SIEMENS INDUSTRY SOFTWARE NV

Inventor： VAN VLIERBERGHE, Pieter

IPC: G01C21/12 ,  G01M7/02 ,  G01C25/00 ,  A42B3/04 ,  G01M7/025

Abstract: The invention relates to a system (SYS) and a method for analyzing the motions of a mechanical structure (STR), comprising: (a) accelerometers (ACC) provided as standard accelerometers (SAC) to measurement-points (MPI) of said mechanical structure (STR), (b) at least three accelerometers (ACC) provided as reference accelerometers (RAC) to measurement-points (MPI) of said mechanical structure (STR), (c) at least one shaker (SHK) being attached to said mechanical structure (STR) for moving the structure (STR) periodically within a first frequency range (FR1), further comprising at least one data processing system (DPS) being prepared to: (d) receiving measurements from said accelerometers (ACC) at the measurement-points when periodically moving the structure (STR) within said first frequency range (FR1) by said at least one shaker (SHK). To enable accurate and quick calibration the invention proposes that said at least one data processing system (DPS) is further prepared to calibrate the accelerometers' (ACC) positions and orientations by the following steps: (e) determining from said measurements of said at least three reference accelerometers (RAC) rigid body motions (RBM), (f) determining positions and orientations of reference accelerometers (ACC) from said rigid body motions (RBM), (g) determining positions and orientations of standard accelerometers (SAC) from said rigid body motions (RBM).

公开(公告)号：WO2022174293A1

公开(公告)日：2022-08-25

申请号：PCT/AU2022/050111

申请日：2022-02-17

Applicant: ALAUDA AERONAUTICS PTY LTD

Inventor： PEARSON, Matthew James ,  BREUT, Florian

IPC: G05D1/10 ,  G05D1/08 ,  G05D1/06 ,  G01S13/89 ,  G01S17/894 ,  G01S19/42 ,  G01S19/46 ,  G01S19/48 ,  G01S19/51 ,  B64C29/00 ,  G01C21/16 ,  G01C21/12

Abstract: A manned vertical take-off and landing (VTOL) aerial vehicle (AV) comprising a body comprising a cockpit; a propulsion system carried by the body to propel the body during flight; pilot-operable controls accessible from the cockpit; a sensing system configured to generate sensor data associated with a region around the manned VTOL AV; a control system may utilise the sensor data and configured to enable control of the manned VTOL AV to be shared between a pilot and an autonomous piloting system; and program instructions to: determine a state estimate and a state estimate confidence metric; generate a three-dimensional point cloud of the region; generate a plurality of virtual particles within a three-dimensional model; compute a plurality of scores, each score being associated with one of the plurality of virtual particles; and update the state estimate based at least in part on the computed scores, thereby determining an updated state estimate.

公开(公告)号：WO2022078843A1

公开(公告)日：2022-04-21

申请号：PCT/EP2021/077580

申请日：2021-10-06

Applicant: BAYERISCHE MOTOREN WERKE AKTIENGESELLSCHAFT

Inventor： ADIPRASITO, Bartono ,  HERCHET, Frank ,  SCHULZ, Julius ,  DOLINAJ, Helena ,  GUENTHER, Maximilian ,  JAENSCH, Martin ,  YILDIZ, Muhammed ,  KRAEMER, Markus

IPC: B60W10/18 ,  B60W30/14 ,  B60W30/18 ,  B60W30/182 ,  B60W50/00 ,  B60W50/14 ,  B60W60/00 ,  G06K9/00 ,  G01C21/12 ,  G01C21/30

Abstract: Es wird ein Fahrzeugführungssystem zur Bereitstellung einer Fahrfunktion zur automatisierten Längsführung eines Fahrzeugs an einer Signalisierungseinheit beschrieben. Das Fahrzeugführungssystem ist eingerichtet, auf Basis von Umfelddaten von ein oder mehreren Umfeldsensoren des Fahrzeugs eine Umfelddaten-basierte Entfernung zu einer vorausliegenden ersten Signalisierungseinheit zu ermitteln, und auf Basis von Kartendaten in Bezug auf ein von dem Fahrzeug befahrenes Fahrbahnnetz, eine Kartendaten-basierte Entfernung zu der vorausliegenden ersten Signalisierungseinheit zu ermitteln. Des Weiteren ist das Fahrzeugführungssystem eingerichtet, einen Schätzwert der Entfernung zu der ersten Signalisierungseinheit auf Basis der Umfelddaten-basierten Entfernung und auf Basis der Kartendaten-basierten Entfernung zu ermitteln, und die automatisierte Längsführung des Fahrzeugs an der ersten Signalisierungseinheit in Abhängigkeit von dem Schätzwert der Entfernung zu der ersten Signalisierungseinheit zu bewirken.

公开(公告)号：WO2021242814A1

公开(公告)日：2021-12-02

申请号：PCT/US2021/034183

申请日：2021-05-26

Applicant: GENTEX CORPORATION

Inventor： WRIGHT, Thomas S. ,  BIGONESS, Eric P. ,  PIERCE, Phillip R. ,  BOSMA, Bradley A.

IPC: G01C21/12 ,  G06K9/00 ,  B60R1/04 ,  B60R1/12

Abstract: Systems for aiding a vehicle driver are disclosed. A system may comprise an imager having a field of view forward relative a vehicle and operable to capture a first image. The system may further comprise a controller communicatively connected to the imager. The controller may be operable to detect a road sign in the first image, to interpret the road sign, and to provide an graphic representation of the road sign and/or provide an auditory response based, at least in part on the road sign. The graphic representation may be displayed by a rear-view assembly. The auditory response may be emitted by a speaker. In some embodiments, a location may be associated with one or more road sign interpretation and both the location and interpretation may be transmitted to a remote server.