Robust numerically stable Kalman filter for autonomous vehicles
US11787419B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 22, 2021 |
| Grant date | Oct 17, 2023 |
| Priority date | — |
| Expiry date | Apr 7, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2050/0083
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
The techniques discussed herein include modifying a Kalman filter to additionally include a loss component that dampens the effect measurements with large errors (or measurements indicating states that are rather different than the predicted state) have on the Kalman filter and, in particular, the updated uncertainty and/or updated prediction. In some examples, the techniques include scaling a Kalman gain based at least in part on a loss function that is based on the innovation determined by the Kalman filter. The techniques additionally or alternatively include a reformulation of a Kalman filter that ensures that the uncertainties determined by the Kalman filter remain symmetric and positive definite.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.