Machine positioning system utilizing position error checking

摘要

A system and method for estimating position of a machine is disclosed. The method may include receiving, from a perception sensor, scene data describing an environment in a vicinity of the machine and estimating a first position of the machine based on the scene data. The method may include determining whether a first signal indicative of a location of the machine is received by the machine and estimating a second position of the machine when it is determined that the first signal is received. The method may include comparing the second position with the first position and estimating a third position of the machine using at least one of the first position and the second position.

主权项

1. A method of estimating position of a machine, comprising:
receiving, from a perception sensor, scene data describing an environment in a vicinity of the machine; estimating, by a controller of the machine, a first position of the machine based on the received scene data and a map of the environment of the machine; determining, by the controller of the machine, whether a global positioning system (GPS) signal indicative of a location of the machine is received by the machine; estimating, by the controller of the machine, a second position of the machine using the GPS signal when it is determined that the GPS signal is received; comparing, by the controller of the machine, the second position and the first position; and estimating, by the controller of the machine, a third position of the machine using at least one of the first position and the second position, wherein: estimating the third position is performed based on a result of the comparison between the second position and the first position.