Estimating positions of a device and at least one target in an environment

摘要

A method/system for estimating a state of a device and at least one target in an environment. The process involves computing a state vector using an error state form of the position of the device in a local coordinate reference frame.

主权项

1. A method of estimating a position of a device (and at least one target in an environment, the method including computing a state vector defined by:
a vector representing a position of the device with respect to an origin of a global coordinate reference frame; a vector representing an estimated position of the at least one target with respect to an origin of an estimated local coordinate reference frame; and an error state form based on a difference between the origin of the estimated local coordinate reference frame and an origin of a correction-free local coordinate reference frame in which a position of the device is assumed to be error-free, wherein the state vector is based on a correction-free local frame simultaneous localization and mapping (SLAM) model, and wherein computing the state vector includes deterministically deriving the error-free position of the device.