SYSTEM AND METHOD FOR ESTIMATION OF MACHINE POSITION

摘要

A system is provided. The system includes a perception sensor, a first inertial measurement unit and a first localization module. The first localization module is configured to generate a first position estimate signal indicative of an estimated position of the machine. The system includes a second inertial measurement unit and a second localization module. The second localization module is configured to generate a second position estimate signal indicative of the estimated position of the machine. A position determination module is communicably coupled to the first and second localization modules. The position determination module is configured to determine a health of the first and second localization modules based on one or more parameters indicative of errors associated with the first and second inertial measurement units respectively; and determine an estimated position of the machine based on the determined health of the first and second localization modules.

主权项

1. A system comprising:
a perception sensor configured to generate a signal indicative of scene data associated with an environment in a vicinity of operation of a machine; a first inertial measurement unit configured to generate a first signal indicative of a change in position of the machine; a first localization module communicably coupled to the perception sensor and the first inertial measurement unit, the first localization module configured to generate a first position estimate signal indicative of an estimated position of the machine; a second inertial measurement unit configured to generate a second signal indicative of the change in position of the machine; a second localization module communicably coupled to the perception sensor and the second inertial measurement unit, the second localization module configured to generate a second position estimate signal indicative of the estimated position of the machine; and a position determination module communicably coupled to the first localization module and the second localization module, the position determination module configured to:
determine a health of the first localization module and the second localization module based on one or more parameters indicative of errors associated with the first and second inertial measurement units respectively; anddetermine an estimated position of the machine based on the determined health of the first localization module and the second localization module.