Multi-path sensor data fusion method and system

A technology for sensing data and data, applied in the field of navigation, can solve the problems of inability to select sensor sensing data, the sensing system is not too ideal, and the safety performance of unmanned vehicles is reduced, so as to achieve the effect of improving safety performance.

Active Publication Date: 2017-09-29
SZ DJI TECH CO LTD
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Problems solved by technology

But the current sensor system for unmanned vehicles is not ideal
For example, most sensing systems adopt a single-line decision-making mode that does not fully consider the redundancy margin. The single-line decision-making mode is used when one or

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  • Multi-path sensor data fusion method and system

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Embodiment Construction

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the drawings in the embodiments of the present disclosure.

[0043] It should be understood that the specific examples herein are only intended to help those skilled in the art better understand the embodiments of the present disclosure, rather than limiting the scope of the embodiments of the present disclosure.

[0044] The embodiments of the present invention can be applied to various types of mobile devices. The mobile device in the embodiments of the present invention can be moved in any suitable environment, for example, in the air (for example, a fixed-wing aircraft, a rotary-wing aircraft, or an aircraft with neither fixed wings nor rotors), in water (for example, a ship or submarines), on land (eg, automobiles or trains), in space (eg, space planes, satellites, or probes), and any combination of the above. The mobile device ...

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Abstract

The invention provides a multi-path sensor data fusion method and system. According to the invention, the method for determining the state of a movable device includes the following steps: if second sensor data acquired in the second sensor system is no available or is not updating, based on first sensor data acquired by a first sensor system, determining the prediction state of the movable device; if the second sensor data acquired by the first sensor system is available or is updating, based on the second sensor data, determining the first observation state of the movable device; based on first difference between the first observation state and the prediction state, determining whether to update the state of the movable device based on the first observation state, wherein the first difference is intended for indicting whether the second sensor data is available.

Description

[0001] Copyright statement [0002] The disclosure of this patent document contains material that is protected by copyright. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office. technical field [0003] Embodiments of the present invention relate to the field of navigation, and more specifically relate to a method and system for multi-channel sensory data fusion. Background technique [0004] Unmanned vehicles, for example, unmanned aerial vehicle (Unmanned Aerial Vehicle, referred to as "UAV"), also known as unmanned aerial vehicles, unmanned vehicles, etc., have more and more applications in many fields such as search and rescue and exploration. A remote controller is usually used to control and navigate the unmanned vehicle. However, in some scenarios, unmanned vehicles can perfor...

Claims

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Application Information

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IPC IPC(8): G08C17/02G01D21/02
CPCG01D21/02G08C17/02
Inventor 叶长春严嘉祺周游
Owner SZ DJI TECH CO LTD
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