Method for determining a relative position of a mobile unit by comparing scans of an environment and mobile unit

US7696894B2 · kind B2 · utility

Assignee

• Siemens Aktiengesellschaft · DE

Inventors

• Michael Fiegert · Hersbruck, DE
• Martin Soika · Idstein, DE

Key dates

• Filing date: Jul 31, 2006
• Grant date: Apr 13, 2010
• Expiry date: Oct 27, 2028

Classification

• Technology area (CPC G): Physics
• CPC primary: G01S15/42
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

In the method for determining a relative position of a mobile unit by comparing scans of an environment, scans of an environment of the mobile unit are recorded continuously by a distance sensor and stored in a memory. Furthermore the processing unit compares a first scan with a second scan, with a relative position of the mobile unit at the time of the second scan being determined in relation to a position at the time of the first scan. The method is characterized by the fact that the processing unit compares the first scan iteratively with subsequent scans, with a new relative position of the mobile unit at the time of the relevant subsequent scan being determined relative to the position at the time of the first scan, and with the last relative position determined in each case being taken into account as a-priori information.