Cooperative state tracking of multiple vehicles using individual and joint estimations
US11947022B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 30, 2021 |
| Grant date | Apr 2, 2024 |
| Priority date | — |
| Expiry date | Jul 17, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/14
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A server jointly tracks states of multiple vehicles using measurements of satellite signals received at each vehicle and parameters of the probabilistic distribution of the state of each vehicle. The server fuse states and measurements into an augmented state of the multiple vehicles and an augmented measurement of the augmented state subject to augmented measurement noise defined by a non-diagonal covariance matrix with non-zero off-diagonal elements, each non-zero off-diagonal elements relating errors in the measurements of a pair of corresponding vehicles. The server executes a probabilistic filter updating the augmented state and fuses the state of at least some of the multiple vehicles with a corresponding portion of the updated augmented state.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.