Receding horizon state estimator
US11124196B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 2, 2019 |
| Grant date | Sep 21, 2021 |
| Priority date | — |
| Expiry date | Feb 11, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0088
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A receding horizon state estimator estimates state of a vehicle such as to reduce total communication cost of acquiring external measurements over a prediction horizon, in which state estimation accuracy for a time step is a function of state estimation accuracy for a previous time step. For each time step of the prediction horizon, estimator selects a subset of external sensors with external measurements sufficient to estimate the state with accuracy satisfying the constraint on state estimation accuracy for the corresponding time step while reducing a total communication cost of acquiring the external measurements over the prediction horizon. The estimator requests the external measurements from the subset of external sensors determined for a current time step and estimates the state of the vehicle using the internal and the requested external measurements.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.