POSE ESTIMATION

摘要

A solution for estimating the pose of a platform, such as a vehicle, is provided. Data from a plurality of types of sensing devices located on the platform can be used to independently calculate a plurality of preliminary estimates corresponding to the pose. A plurality of estimates corresponding to the pose can be generated using the preliminary estimates and at least one covariance matrix. One or more entries in the covariance matrix are adjusted based on an uncertainty for the corresponding preliminary estimate. The uncertainty can vary based on time, distance, and/or velocity of the platform.