A method for determining the instantaneous absolute position and orientation of an entity in navigation space.

Abstract

To provide a system and method for determining a refined absolute position and refined absolute orientation of an entity in a navigation space.SOLUTION: A system includes: a plurality of sensors; a coarse absolute position and orientation estimation unit that determines a coarse absolute position and / or a coarse absolute orientation, of an entity on the basis of position data captured by sensors at predefined frequency / interval; a relative position and orientation estimation unit that determines a relative position and / or a relative orientation, of the entity on the basis of a set of data captured from sensors; a navigation guidance unit that provides and updates unique attributes of the navigation space; and an analysis unit that determines a refined absolute position or a refined absolute orientation of the entity by fine tuning the coarse absolute position based on the relative position and the coarse absolute orientation based on the relative orientation using a navigation map.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] (Related applications) This application is titled "SYSTEM AND METHOD FOR DETERMI NING AN INSTANTANEOUS ABSOLUTE POSITION AND ORIENTATION OF AN ENTITY IN A NAVIGA Filing on December 1, 2020, under the name "TION SPACE", serial number 20204 We claim priority from Indian Provisional Patent Application (PPA) No. 1052367. The contents of the above PPA are as follows: The entirety of this is included herein by reference. [Background technology]

[0002] Generally speaking, embodiments of the present invention relate to position sensing and navigation systems. In particular, embodiments of the present invention provide position sensing and navigation for moving objects. Regarding the navigation system. More specifically, embodiments of the present invention relate to the navigation system in the navigation space. In this book, the precise absolute position of entities such as robots (BOTs) is then determined. (Refined absolute position) and precise absolute orientation This relates to a method and system for determining instantaneous absolute position and bearing, known as [name of method / system].

[0003] (Explanation of related technologies) According to the example scenario, the position and rotational orientation of an object in a defined space can be determined. Determining the answer is a practical problem that has yielded many solutions, and each solution is for a specific purpose. It is specialized to solve specific requirements. Objects (stationary or moving) in a given space. Some existing techniques for determining the position or orientation include, for example, optical, ultrasonic, or This includes wireless-based technologies. However, most existing technologies do not provide angular and directional information. Existing technologies that enable angle and direction measurement lack position determination. For example, several existing The existing technology employs a Global Positioning System (GPS) for location determination, but static It lacks the ability to determine the orientation of stationary objects, and the GPS operability also suffers from signal attenuation and reflection indoors. It suffers from glare and is therefore not a good choice for indoor use. The magnetometer does not determine absolute direction. They provide the necessary information, but are highly susceptible to dynamic changes in the magnetic field near the sensor. While it may work well in controlled scenarios, for cargo handling applications, the magnetism of the cargo... This can make the measurements unreliable. Ultrasonic methods work well indoors, but direction determination is difficult. It lacks. Furthermore, existing technologies such as laser-based technologies (Lidar) are insufficient for determining position and orientation. They offer both, but at a huge cost. In addition, furniture, machinery, etc., are loosely placed on the floor. Existing techniques that use position data associated with a fixed object as a reference point The technique is highly vulnerable to dynamically changing scenarios on the floor.

[0004] Furthermore, while navigating through narrow passages, any collisions or fixed structures such as walls To avoid misinterpreting it as an obstacle, the entity is placed along a predefined path (for example) It is important to keep the entity close to the center line of the passage. To maintain along the road, precise information about the entity's location (e.g., a few centimeters) is necessary. Within the error range (etc.) is absolutely essential. In order to keep the entity on the ideal path, The deviation of the entity's current position from the ideal path needs to be accurately grasped with a desired error, for example, less than 10 centimeters.

[0005] Therefore, there is a need for an alternative method and system that is cost-effective for determining the absolute position and orientation of an entity while providing good accuracy, eliminating any dependencies on dynamically changing scenarios in the navigation space, except for planned changes such as changing the navigation path, modifying the layout to break through walls, etc. Further, for a given navigation segment, there is a need for a guidance entity (e.g., a proprietary map) to dynamically provide the required guidance regarding the use of diverse datasets to accurately arrive at the required absolute position, using diverse datasets captured from different source devices to find the absolute position of a static or moving entity (hereinafter referred to as a BOT) in a 2D coordinate system (e.g., orthogonal).

[0006] The above drawbacks, disadvantages, and problems are addressed in this specification and will be understood by reading and studying the following specification.

[0007] (Objectives of Embodiments) The main objective of the present invention is to provide a system and method for precisely determining the absolute position and absolute orientation of an entity in a navigation space with good accuracy and cost-effectiveness, while eliminating any dependencies on dynamically changing scenarios or unplanned changes in the navigation space, without referring to historical data, the quality of the absolute position. This remains the same, and due to its dependence on the recency of old data, It does not deteriorate during the specified time interval.

[0008] Another object of the embodiments herein is absolute position and on-the-fly switchover Using a variety of sensors that seamlessly help improve compass accuracy Based on the extraction of diverse features in the navigation space, We propose a system and method for determining the precise absolute position and precise absolute orientation of an entity. It is to provide.

[0009] Another object of the embodiments herein is the rough absolute position and in navigation space Using specific features, a unique combination of relative positions extracted from various sensors is used. Using this, precise absolute positioning of entities in navigation space is achieved. The objective is to provide a system and method for determining absolute position and precise absolute direction.

[0010] Another objective of the embodiments herein is to support by a unique navigation map Based on the context being set, seamless switching between sensors during navigation. Over is used to obtain the precise absolute position and precision of entities in navigation space. The objective is to provide a system and method for determining absolute direction.

[0011] These and other purposes and advantages of the embodiments described herein are explained in conjunction with the following accompanying drawings. This will become readily apparent from the detailed explanation. [Overview of the Initiative]

[0012] The following details provide a simplified overview of the invention as described herein, and the practical aspects of this specification. This provides a basic understanding of several embodiments of the invention. The outline of the present invention is provided in the embodiments of this specification. This is not a comprehensive overview of the embodiments. It identifies the main / important elements of the embodiments described herein, or this It is not intended to define the scope of the embodiments of the specification. Its sole purpose is to show the embodiments presented later. As an introduction to a more detailed explanation, the concepts of the embodiments described herein are presented in a simplified form. The goal is to present it.

[0013] Other objectives and advantages of the embodiments described herein can be found in the following description, in conjunction with the accompanying drawings. This will become clear easily. However, the following description is a preferred embodiment and many thereof. While it provides specific details about the number, it is given as an example, not as an limitation. Please understand that many changes and modifications will be made within this specification without deviating from its original intent. This may be done within the scope of the embodiments, and all such modifications are not included in the embodiments specified herein. include.

[0014] The outline of the present invention is a selection of concepts that will be further described below in the detailed description, in a simplified manner. It is provided for presentation in a formatted manner. The abstract of the present invention outlines the main or It is not intended to identify essential features, but rather as an aid in determining the scope of the subject matter being asserted. It is not intended to be used in that way.

[0015] Various embodiments of this specification provide a system that dynamically navigates the navigation space. While eliminating any dependence on changing scenarios or unplanned changes, we achieve good accuracy and Together, in a cost-effective manner, the absolute position and absolute position of entities in navigation space. It provides a way to determine the relative direction. Without referencing historical data, the quality of the absolute position remains the same. This can lead to degradation during any given time interval due to its dependence on the recency of older data. do not have.

[0016] According to one embodiment of this specification, precise isolation of entities in navigation space A system for determining relative position and precise absolute bearing is disclosed. One embodiment of the present invention According to the system, the system comprises first sensors located at a first number of locations on the entity. The first sensor set includes multiple sensors, including a set of UWB, B technologies such as luetooth (registered trademark), Zig-bee (registered trademark), ultrasound, and others. Cartesian coordinate system provided by a local positioning system formed using the technique It is part of the present invention. According to embodiments of the present invention, the system is a second plurality of entities The system includes a second set of diverse sensors positioned at a specific location. The system also operates at a predetermined frequency / interval. The position data captured by the first sensor set in a two-dimensional orthogonal plane of the orthogonal coordinate system is measured at a distance. Based on the data, at least one of the rough absolute position and rough absolute orientation of the entity is determined. It includes a coarse absolute position estimation unit configured to perform the determination of one of the two. The system, based on the dataset captured from a second diverse set of sensors, determines Determine at least one of multiple relative positions and relative orientations of an entity with respect to a path. Includes a relative position and orientation estimation unit configured to determine, and is captured The data concerns preset known fixed physical features in the navigation space. This represents one of the relative deviation and relative tilt of the entity. Furthermore, the system is indoors Based on the desired navigable layout identified in the navigation space, By providing attributes and learning / feedback based on historical navigation data, The goal is to dynamically update one or more attributes of the navigation map. It includes a navigation guidance unit configured as follows. Furthermore, the system is relative One or more of the multiple inputs provided by the position and direction estimation unit, and Based on the rough absolute position of Titty and the navigation map, the rough absolute position and rough By fine-tuning the absolute bearing, the precise absolute position and precise absolute bearing of the entity can be determined. Includes an analysis unit configured to determine at least one of the following .

[0017] According to one embodiment of this specification, the analysis unit moves a predetermined path in a two-dimensional orthogonal plane. Align the system to be parallel to the X or Y axis and generate the transformed navigation plane. To do this, the navigation plane associated with a predetermined path is rotated by a rotation angle. Therefore, it is configured to perform a predetermined path transformation, and the rough absolute position is also the same Rotated by a rotation angle, the transformed rough absolute position of the entity is obtained, and the entity Relative position and azimuth estimation by correcting / correcting the converted rough absolute position of the typography. Based on one or more of the multiple inputs from the unit, the transformed entity The precise absolute position is obtained, and the transformed rough absolute position of the entity is obtained during the plane transformation. Depending on the rotation applied, the transformed ideal coordinate values ​​of the object and the relative position and azimuth estimation are used. A combination of one or more inputs from the knit is used to transform the entity. The correction / correction is achieved by replacing either the X or Y value of the rough absolute position coordinates. The transformed ideal coordinate values ​​of the target, selected based on the applied transformation. Equal to the ideal starting point coordinates, the ideal starting point coordinates are obtained from the line on the navigation map. The coordinates of the starting node of the minute, and the precise absolute position of the entity, are obtained via the same rotation angle. By rotating the navigation plane in the reverse direction, back to its original orientation, The precise absolute position obtained and transformed is then rotated by the same angle, and the precise position of the entity. It provides an absolute position.

[0018] According to one embodiment of this specification, the precise absolute orientation of an entity is determined by 1) relative position and 1) The relative orientation of the entity obtained from the orientation estimation unit, and 2) the rough absolute position and orientation. The rough absolute bearing obtained from the estimated unit and the converted navigation In the X-plane, the relative position and orientation estimation unit is based on the applied transformation, X-axis Or the relative orientation of the entity with respect to the transformed path that is parallel to any one of the Y axes The transformed absolute orientation of an entity in the provided and transformed navigation plane is Since the absolute orientation of the transformed path is the same as either the X or Y axis, the entity It is derived by adding the relative direction, along with its sign, to the absolute direction of the transformed path. Then, by rotating the transformation navigation plane in the reverse direction by the same amount as the rotation angle, The transformed absolute azimuth angle undergoes a similar rotation, providing an intermediate representation of the entity's absolute azimuth. The precise absolute orientation of an entity is provided, along with the rough absolute orientation and the absolute orientation of the entity. It is obtained as a weighted combination with the inter-representation.

[0019] According to one embodiment of this specification, the analysis unit selects from among a plurality of inputs the relative position and Select and use one or more of the relative position and relative direction from the direction estimation unit. It is configured to do the following. Such multiple inputs to the analysis unit are second-hand. Using a variety of sensor sets within the sensor set, the relative position and orientation estimation unit... The following is derived. The selection of the specific input used is based on the rough absolute position of the navigation. It is guided by unique attributes provided by the guidance unit.

[0020] According to one embodiment of this specification, the analysis unit comprises multiple physical attributes that vary. Through different sections of a navigation layout that contain either a line segment or a single line segment While navigating, from among multiple inputs, relative position and relative direction estimation unit It is configured to allow seamless selection and use of one or more of the position and relative orientation. The selection is based on the rough absolute position of the entity, and navigation guidance is used. Guided by the navigation guidance unit, the navigation guidance unit is, for example, not limited to However, the presence of walls and their sides adjacent to the navigation path, lane markings, etc. Each such line segment provides a physical attribute associated with it.

[0021] According to one embodiment of this specification, a first plurality of locations on an entity are the entity The front and rear ends of the entity, and the second set of positions are the left side of the entity, the entity At least one of the right side, the front end of the entity, and the rear end of the entity include.

[0022] According to one embodiment of this specification, an entrance along a predetermined path in the navigation space A method for navigating the navigation space is disclosed. The method is 1) in the navigation space 1) Start navigating the entity along a predetermined path, and 2) on the entity From among multiple sensors arranged at a first set of positions, the first sensor set is used Based on position data captured at a predefined frequency / interval, the coarse isolation of entities 3) Determine at least one of the relative position and rough orientation, and 4) the number on the entity From among multiple sensors positioned at multiple locations, capture data from a second diverse set of sensors. Based on the captured dataset, the relative position and relative position of entities along a given path Determining at least one of the directions, and 4) rough absolute position and navigation mark Based on the data, entities related to a predetermined path are selected from among multiple relative positions and relative orientations. Select at least one of the relative position and relative direction, and 5) Navigation Using the map, we obtain a rough absolute position based on relative position, and a rough absolute direction based on relative direction. By fine-tuning this, the precise absolute position and precise absolute orientation of the entity can be determined. Therefore, the navigation map uses map data and historical navigation data. Based on the underlying machine learning model, the determination is generated and updated, and 6) destination This includes continuing steps 2-5 until you reach the desired outcome.

[0023] These and other embodiments of the embodiments specified herein should be considered in conjunction with the following description and accompanying drawings. When given consideration, it will be better recognized and understood. However, the following explanation is preferable. While embodiments and numerous specific details thereof are shown, they are given as examples and not as limitations. Please understand that this is not something that can be obtained. Many changes and modifications deviate from the original intent. This may be done within the scope of the embodiments specified herein, and the embodiments specified herein are all This includes such modifications. [Brief explanation of the drawing]

[0024] Embodiments of the present invention will be better understood from the following detailed description with reference to the drawings. [Figure 1] Figure 1 shows a block diagram of a system for determining the position and orientation of an entity in a navigation space, according to one embodiment of this specification. [Figure 2] Figure 2A shows a perspective view of an entity (robot) mounted on a system provided for determining the position and orientation of an entity in navigation space, with a first set of sensors fixed at a first plurality of positions on the entity, according to one embodiment of this specification. Figure 2B shows a plan view of the positioning of the first set of sensors fixed at a first plurality of positions on an entity, with a system provided for determining the rough absolute position and rough absolute orientation of an entity in navigation space, according to one embodiment of this specification. [Figure 3A] Figure 3A shows a perspective view of an entity (robot) attached to a system provided for determining the position and orientation of an entity in a navigation space, according to one embodiment of this specification, and which is fixed with a second set of sensors at a second plurality of positions on an exemplary entity. [Figure 3B] Figure 3B illustrates a process, according to one embodiment of this specification, for determining the deviation of an entity from a predetermined path during navigation in a navigation space derived by relative position and orientation units, using a variety of sensor sets within a second sensor set. [Figure 3C]Figure 3C shows a perspective view of an entity (robot) mounted on a system fixed with a second set of sensors at a second plurality of second locations on an exemplary entity, provided for determining the position and orientation of an entity in a navigation space according to one embodiment of this specification, and illustrating the determination of the relative position and relative orientation of the entity with respect to a pair of lane markings. [Figure 4] Figures 4A-4B illustrate the transformation of a navigation plane to align a given path with the Y-axis, using an analysis unit configured to transform a given path by rotating a navigation plane associated with the given path by a known rotation angle to align the given path parallel to one of the X-axis or Y-axis of a two-dimensional orthogonal plane and generate a transformed navigation plane, and to apply refinement based on the relative position and relative orientation in a system for determining the precise absolute position and precise absolute orientation of entities in navigation space. [Figure 5] Figure 5 is a flowchart illustrating the process of navigating an entity along a predetermined path in a navigation space using a system for determining the precise absolute position and precise absolute orientation of an entity in a navigation space, according to one embodiment of this specification. [Figure 6] Figure 6 illustrates a scenario according to one embodiment of this specification in which an entity navigates through various sections of a navigation space, using the relative position provided by each section of either a wall or a lane, based on the selection of each sensor. [Figure 7] Figure 7 illustrates the reliability of the precise absolute position provided by the present invention during a typical navigation between two points, according to one embodiment of this specification. [Figure 8] Figure 8 shows one embodiment of finding the relative orientation of an entity using proximity sensing devices that form part of a second diverse sensor set, according to one embodiment of this specification.

[0025] However, certain features of the embodiments described herein are shown in some drawings, and other drawings... Not shown in the image. This is because each feature may or may not be any other in accordance with the embodiments of this specification. This is done solely for convenience, as it may be combined with other features. [Modes for carrying out the invention]

[0026] In the following detailed description, references are made to specific implementations that may be carried out and form part of this specification. The embodiments are shown in the attached drawings, which are illustrated as examples. These embodiments are for those skilled in the art. This is described in sufficient detail to enable the implementation of the embodiment, and any other modifications may be made within the scope of the embodiment. Please understand that this may be done without deviating from the following details. The explanation should not be taken in a limited sense.

[0027] Embodiments of this specification, their various features and advantageous details are shown in the accompanying drawings. More fully described with reference to the non-limiting embodiments detailed in the description below. The description of components and processing techniques does not unnecessarily obscure the embodiments herein. Therefore, it is omitted. The examples used herein are simply embodiments of the present invention. To facilitate understanding of possible methods and to further enable those skilled in the art to implement embodiments of the present invention. It is intended to enable. Therefore, the examples described herein do not limit the scope of the embodiments. It should not be interpreted as something that is inherently different.

[0028] Various embodiments of this specification describe any dynamically changing scenario in the navigation space. Cost-effective with good accuracy, while eliminating dependence on Rio or unplanned changes. The precise absolute position and precise absolute orientation of an entity in navigation space can be determined by this method. The system and method are provided to determine absolute position and without referencing historical data. The quality of direction remains the same, and due to its dependence on the recency of old data, any It does not deteriorate during the time interval.

[0029] According to one embodiment of this specification, precise isolation of entities in navigation space A system for determining relative position and precise absolute bearing is disclosed. One embodiment of the present invention According to the description, it includes a first set of sensors positioned at a first number of locations on the entity. The first sensor set includes multiple sensors, and is not limited to UWB, Bluetooth. Local positive cells formed using technologies such as th, Zigbee, ultrasound, and others. It is part of the Cartesian coordinate system provided by the junctioning system. In another embodiment of the present invention According to the system, the second sensor set is placed at a second set of locations on the entity. The system also uses a first sensor set to obtain two-dimensional orthogonal coordinates at predetermined frequencies / intervals in a Cartesian coordinate system. Based on position data captured in a plane, the rough absolute position and rough position of the entity A rough absolute position configured to determine at least one of the absolute directions. It includes a position and orientation estimation unit. Furthermore, the system uses a second diverse set of sensors. Based on a dataset captured at a fixed frequency / interval, entities along a given path are identified. The system is configured to determine at least one of a plurality of relative positions and relative orientations. It includes a relative position and direction estimation unit. Furthermore, the system provides indoor navigation. Based on the desired navigable layout identified in the space, unique attributes To provide information and to learn / feedback based on historical navigation data Configure to dynamically update one or more attributes of the navigation map. The system includes a navigation guidance unit. Furthermore, the system includes 1) relative position One or more of the multiple inputs provided by the orientation and direction estimation unit (108) 2) the rough absolute position of the entity, and 3) the navigation guidance unit Based on the unique attributes provided, fine-tune the coarse absolute position and coarse absolute orientation. This allows for the precise absolute position and precise absolute orientation of an entity at a predetermined frequency / interval. Includes an analysis unit configured to determine at least one of the following.

[0030] According to one embodiment of this specification, the analysis unit measures the X-axis or Y-axis in a two-dimensional orthogonal plane. Align a predetermined path parallel to the axis and generate a transformed navigation plane. To do this, the navigation plane associated with a predetermined path is rotated by a rotation angle. Therefore, it is configured to perform a predetermined path transformation, and the rough absolute position is also the same Rotated by a rotation angle, the transformed rough absolute position of the entity is obtained, and the entity Relative position and azimuth estimation by correcting / correcting the converted rough absolute position of the typography. Based on one or more of the multiple inputs from the unit, the transformed entity The precise absolute position is obtained, and the transformed rough absolute position of the entity is obtained during the plane transformation. Depending on the rotation applied, the transformed ideal coordinate values ​​of the object and the relative position and azimuth estimation are used. A combination of one or more inputs from the knit is used to transform the entity. The correction / correction is achieved by replacing either the X or Y value of the rough absolute position coordinates. The transformed ideal coordinate values ​​of the target, selected based on the applied transformation. Equal to the ideal starting point coordinates, the ideal starting point coordinates are obtained from the line on the navigation map. The coordinates of the starting node of the minute, and the precise absolute position of the entity, are obtained via the same rotation angle. By rotating the navigation plane in the reverse direction, back to its original orientation, The precise absolute position obtained and transformed is then rotated by the same angle, and the precise position of the entity. It provides an absolute position.

[0031] According to one embodiment of this specification, the precise absolute orientation of an entity is determined by 1) relative position and 1) The relative orientation of the entity obtained from the orientation estimation unit, and 2) the rough absolute position and orientation. The rough absolute bearing obtained from the estimated unit and the converted navigation In the X-plane, the relative position and orientation estimation unit is based on the applied transformation, X-axis Or the relative orientation of the entity with respect to the transformed path that is parallel to any one of the Y axes The absolute direction of the provided and transformed path is the same as either the X-axis or the Y-axis, therefore, The transformed absolute orientation of an entity in the transformed navigation plane is the entity The relative direction of point i, along with its sign, is derived by adding it to the absolute direction of the transformed path. Then, the transformed navigation plane is rotated in the reverse direction by the same amount as the rotation angle. Therefore, the transformed absolute azimuth angle undergoes a similar rotation, and is the midpoint of the entity's absolute azimuth. It provides representation, and the precise absolute orientation of the entity is provided along with the rough absolute orientation of the entity. It is obtained as a weighted combination with an intermediate representation of direction.

[0032] According to one embodiment of this specification, the analysis unit selects from among a plurality of inputs the relative position and Select and use one or more of the relative position and relative direction from the direction estimation unit. It is configured to do the following. Such multiple inputs to the analysis unit are second-hand. Using a variety of sensor sets within the sensor set, the relative position and orientation estimation unit... The following is derived. The selection of the specific input used is based on the rough absolute position of the navigation. It is guided by the map.

[0033] According to one embodiment of this specification, the analysis unit comprises multiple physical attributes that vary. Through different sections of a navigation layout that contain either a line segment or a single line segment While navigating, from among multiple inputs, relative position and relative direction estimation unit It is configured to allow seamless selection and use of one or more of the position and relative orientation. The selection is based on the rough absolute position of the entity in the navigation map. Thus, the navigation map is, for example, not limited to, a navigation route. Each such line segment and the adjacent wall and its side, the presence of lane markings, etc. Provides associated physical attributes.

[0034] According to one embodiment of this specification, a first plurality of locations on an entity are the entity The front and rear ends of the entity, and the second set of positions are the left side of the entity, the entity At least one of the right side, the front end of the entity, and the rear end of the entity include.

[0035] According to one embodiment of this specification, an entrance along a predetermined path in the navigation space A method for navigating the navigation space is disclosed. The method is 1) in the navigation space 1) Start navigating the entity along a predetermined path, and 2) on the entity From among multiple sensors arranged at a first set of positions, the first sensor set is used Based on position data captured at a predefined frequency / interval, the coarse isolation of entities 3) Determine at least one of the relative position and rough orientation, and 4) the number on the entity From among multiple sensors positioned at multiple locations, capture data from a second diverse set of sensors. Based on the captured dataset, the relative position and relative position of entities along a given path Determining at least one of the directions, and 4) rough absolute position and navigation mark Based on the data, entities related to a predetermined path are selected from among multiple relative positions and relative orientations. Select at least one of the relative position and relative direction, and 5) Navigation Using the map, we obtain a rough absolute position based on relative position, and a rough absolute direction based on relative direction. By fine-tuning this, the precise absolute position and precise absolute orientation of the entity can be determined. Therefore, the navigation map uses map data and historical navigation data. Based on the machine learning model, the following are generated: 6) to make a decision and to reach the destination. This includes continuing steps 2-5 until...

[0036] Various embodiments disclosed herein describe the navigation space of entities A method and system for determining precise absolute position and orientation are provided herein. The system and method described improve the accuracy of absolute positioning, including on-the-fly switchovers. Using a variety of sensors that are used to seamlessly assist in navigation Based on the extraction of diverse features in the navigation space, entities in the navigation space The precise absolute position and precise absolute orientation are determined. Furthermore, the system disclosed herein The method uses rough absolute position and specific features in navigation space to perform various Using a unique combination of relative positions extracted from sensors, precise absolute positioning is achieved. Entities may include stationary or moving objects.

[0037] Figure 1 shows the position of entities in the navigation space according to one embodiment of this specification. A block diagram of the system for determining position and orientation is shown. (Figure 1) As such, system 102 includes multiple sensors 104 and a coarse absolute position and orientation estimation unit. 106, relative position and direction estimation unit 108, and navigation guidance unit It includes 110 and analysis unit 112. For example, an entity is a static object or This may include moving objects (for example, mobile factory equipment or vehicles). A containment space is an enclosed space or a predefined space, such as the interior space of a factory unit. Includes an open space with defined boundaries. According to one embodiment of this specification, multiple centers The system consists of a first set of sensors positioned at a first number of locations on the entity, and the entity Includes a second set of sensors positioned at a second plurality of locations on the tee. For example, the second plurality The number of sensors may include proximity sensing devices, image capture devices, etc. It is not limited to those.

[0038] According to one embodiment of this specification, the coarse absolute position and orientation estimation unit 106 is first The sensor set (further described with Figures 2A-2B) provides a predetermined frequency / interval. Based on the captured location data, the rough absolute position and rough absolute azimuth of the entity are determined. It is configured to determine at least one of the following. The predetermined path is a navigation Includes ideal navigation paths for entities within the space. In one embodiment of this specification According to this, the relative position and orientation estimation unit 108 is a second diverse sensor set (Figure 3A- (Further explained with Figure 3C) to a set of data captured at a predetermined frequency / interval Based on this, at least one of the relative position and relative orientation of an entity with respect to a predetermined path It is configured to perform a single determination.

[0039] According to one embodiment of this specification, the navigation guidance unit 110 is an indoor navigation Based on the desired navigable layout identified in the navigation space, By providing attributes and learning / feedback based on historical navigation data, It is configured to dynamically update one or more attributes. According to one embodiment of the details, the navigation guidance unit 110 provides navigation A unique predetermined line segment for each line segment of a virtual map created for a virtual space (e.g., a factory floor) Includes a centralized / local system or device containing defined attributes. The attributes are not limited to, but include nodes, destination points, absolute coordinates of nodes and other attributes, and each node. Effective paths connecting to any other node, optimal paths between nodes, and associated costs. Furthermore, reinforcement for each line segment, such as the intermediate transition angle and the ideal path of the segment, and the absence of walls. The presence of a wall on either side of the passage having subsection accuracy to capture any possible gaps. Availability / usability, presence of lane lines on either side of the line segment, lane width, lane width and any This includes the maximum travel speed based on other considerations, the azimuth angle offset at each node, etc.

[0040] According to one embodiment of this specification, the navigation guidance unit 110 is, for example, Using the initial input dataset, including node coordinates, valid paths, and path widths, the initial mat Generate a map. The initial input dataset is designed in a way that will lead to a robust map. It is processed, and most of the time, without the need for special training for Entity 200. From its initial execution, all the necessary steps to perform successful navigation. It has attributes. Node azimuth angle offset, presence of walls or fixed structures along the path, location The subsequent attributes such as the reliability of lane markings on the floor for a given segment. This concerns the refinement / dynamic updating of the navigation guidance unit 110. During aging, various data are collected from entities and used for further inference. Machine learning (ML) technology is applied. According to one embodiment of the present invention, a dynamic map generation unit 110 is based on ML collected based on the experiences of various entities. Using the inferred data, and further applying artificial intelligence techniques to improve attributes and initial map Update the map. Afterwards, the updated map will be available to all entities in the navigation space. It will be available from the next navigation.

[0041] According to one embodiment of this specification, the analysis unit 112 is a 1) relative position and orientation estimation unit 1) One or more of the multiple inputs provided by Knit(108), and 2) Entity The rough absolute position of the tee and 3) provided by the navigation guidance unit (110) By fine-tuning the rough absolute position and rough absolute direction based on the unique attributes that are determined, Then, at a predetermined frequency / interval, one of the precise absolute position and precise absolute orientation of the entity It is configured to determine at least one of the following. According to one embodiment of this specification Then, the analysis unit 112 aligns a predetermined path with one of the X or Y axes of a two-dimensional orthogonal plane. Align to the row and associate with a predetermined path to generate a transformed navigation plane 404. By rotating the guided navigation plane 402 by the rotation angle, the predetermined path 30 It is configured to perform a transformation of 4, and the rough absolute position also undergoes the same rotation. , which becomes the transformed rough absolute position of the entity. According to one embodiment of this specification, analysis Unit 112 receives one or more of the multiple inputs from the relative position and direction estimation unit. Based on the numbers, refinement is applied to the converted absolute position and the converted navigation It is configured to obtain the transformed, precise absolute position of an entity on the network. The refinement depends on the rotation applied during the transformation of the plane, and the transformed ideal seat of the object. From the reference value and multiple inputs from the relative position and direction estimation unit, multiple from a predetermined path The transformed rough absolute position of an entity, in combination with one or more of the deviations. A single substitution of either the X or Y coordinate values, where the transformed ideal coordinate values ​​are: One of the transformed ideal starting point coordinate values ​​selected based on the applied transformation. Therefore, the ideal starting point is the theoretical locus of the starting node of the line segment obtained from the navigation map. This is a target. According to one embodiment of this specification, the analysis unit 112 is a navigation plane. Rotate it in the reverse direction by the same amount as the rotation angle that returns it to the original orientation of the navigation plane 402. This is configured to obtain the precise absolute position of an entity. The transformed precise absolute position is then rotated by the same angle, and the precise absolute position of the entity This provides (further explanation with Figures 4A-4B).

[0042] According to one embodiment of this specification, the analysis unit 112 is a 1) relative position and orientation estimation unit 1) Relative orientation of entities obtained from Knit 108, and 2) rough absolute position and orientation estimation. Based on the rough absolute orientation obtained from unit 106, the precise absolute orientation of the entity The position is derived, and in the transformed navigation plane, the relative position and orientation estimation unit 1 08 is transformed to be parallel to either the X-axis or the Y-axis, based on the applied transformation. It provides the relative orientation of entities along the path, and the absolute orientation of the transformed path is the X-axis or Since it is the same as one of the Y axes, the entity in the transformed navigation plane The transformed absolute direction of Ti is the transformed relative direction of the entity, along with its sign. The navigation plane 404, derived and transformed by adding it to the absolute orientation of the road, By rotating in the opposite direction by the same amount as the rotation angle, the transformed absolute azimuth angle is the same It receives rotations and provides an intermediate representation of the entity's absolute orientation, and the precise absolute orientation of the entity. The opposing direction is a weighted combination of a coarse absolute direction and an intermediate representation of the entity's absolute direction. This is obtained as (further explained with Figures 3C, 4A-4B and 8). According to this embodiment, the analysis unit 112 selects relative position and orientation from among multiple inputs. Select and use one or more of the relative position and relative orientation from the fixed unit 108. It is configured to do so, and such multiple inputs to the analysis unit 112 are, Using a variety of sensor sets within the two sensor sets, relative position and orientation estimation unit It is derived by 108. The selection of the specific input used is based on the coarse absolute position. Guided by a navigation map. According to one embodiment of this specification, the analysis unit 112 is a navigation that includes either multiple line segments or a single line segment with changing physical attributes. While navigating different sections of the gated layout, from among multiple inputs, To seamlessly select and use one or more of the opposing position and relative direction. It is structured such that selection is based on the rough absolute position of the entity, and navigation is Guided by the app, the navigation map is, for example, not limited to, but navigation Each such It provides physical attributes associated with the line segment (further explained with Figure 6).

[0043] Figures 2A and 2B show a first composite on an exemplary entity according to one embodiment of this specification. The positioning of the first sensor set at a given location is illustrated in Figure 2A. The exemplary entity 200 includes a front end 206 and a rear end 204. First sensor Set 202A-H is the rear of the exemplary entity 200, located at the rear end 204 Sensor set 202E-H and front sensor set 202A-D located at the front end 206 This includes the first on an exemplary entity 200 in the XY plane 208. The positioning representation of sensor set 202A-H is described. As shown in Figure 2B, point Points B1-B4 and F1-F4 determine the positions of sensors 202E-H and 202A-D, respectively. It represents the first sensor set 202A-H, which realizes 3D spatial diversity. It is located in the first sensor set 202A-H, which determines the absolute position of an exemplary entity. The absolute position, captured and provided by each sensor, is used to calculate a redundant set of absolute orientation representations. Used for this purpose, the average of the absolute azimuthal representation is the absolute azimuthal representation of entities in the XY plane 208. Used to determine rank.

[0044] According to one embodiment of this specification, a first plurality of sensors (first plurality of sensors 202A- The location of an entity captured by H (e.g., example entity 200) is , used to determine at least one of the rough absolute position and / or rough absolute bearing According to one embodiment of this specification, as depicted in Figure 2B, rough absolute position and direction The position estimation unit 106 determines lines B1F1 212 and B4F4 214. From the rear Lines B1F1 212 and B4F4 214 to the front indicate that the entity is responsible for a given path. Provides a representation of the angle directed towards a given instance of intent. Rough absolute position and orientation estimation. Unit 106 determines the angles of lines B1B4 216 and F1F4 218. Line B1B 4 216 and F1F4 218 provide angles that are 90 degrees greater than the angle of the entity. The absolute position unit 106 combines angles and Quad_Sensor_Angl We obtain e. Quad_Sensor_Angle is given by number 1. [Mathematics 1] Quad_Sensor_Angle = ((∠B1F1 + ∠B4F4 + (∠B1B4 - 90) + (∠F1F4 - 90)) / 4 2 (1)

[0045] According to one embodiment of this specification, the coarse absolute position and orientation estimation unit 106 is used to estimate point B1 The first center point (BC) is determined using B2B3B4. BC is given by equation 2. It is possible. [Math 2] BC = (B1 + B2 + B3 + B4) / 4 (2)

[0046] According to one embodiment of this specification, the coarse absolute position and orientation estimation unit 106 is used to estimate point B1 The second center point (FC) is determined using B2B3B4. FC is given by equation 3. It is possible. [Math 3] FC = (F1+F2+F3+F4) / 4 (3)

[0047] The coarse absolute position and orientation estimation unit 106 represents the line BCFC given by equation 4. Determine the angle (Centre_Of_Sensors_Angle). [Math 4] Center_Of_Sensors_Angle = ∠BCFC (4)

[0048] According to one embodiment of this specification, the coarse absolute position and orientation estimation unit 106 is located on line B1 Determine the angle representing F4 and the angle representing line B4F1. Line B1F4 and line B4F1 are E Although it has an offset with respect to the orientation of the sensor, the first sensor set 202A-H is perpendicular. Because it is positioned by shape, the offset becomes ineffective. For example, as depicted in Figure 2B, The actual direction of Ntiti is 270 degrees. If B1F4 is at an angle of 300 degrees, B4F1 can be 240 degrees. Therefore, the sum of the angles of B1F4 and B4F1. This is the instantaneous orientation of the entity given by the number 5 (Big_Diagonal_An Gives the representation of gle. [Number 5] Big_Diagonal_Angle = (∠B1F4 + ∠B4F1) / 2 (5)

[0049] According to one embodiment of this specification, the coarse absolute position and orientation estimation unit 106 is Cen Determine the points BC and FC identified in tre_Of_Sensors_Angle. The coarse absolute position and azimuth estimation unit 106 represents BCF1 and BCF4. Determine the angle and the average angle to obtain the angle SD_Angle_1. The direction estimation unit 106 determines the angles representing B1FC and B4FC, and the average of the angles. Then, the angle SD_Angle_2 is obtained. The rough absolute position and direction estimation unit 106 is number To average SD_Angle_1 and SD_Angle_2 given by 6 Therefore, we determine the Small_Diagonal_Angle. [Number 6] Small_Diagonal_Angle = ((∠BCF1 + ∠BCF4) / 2 + (∠B1FC + ∠B4FC) / 2) / 2 (6)

[0050] According to one embodiment of this specification, the coarse absolute position and orientation estimation unit 106 is given by Equation 7. Therefore, the rough absolute orientation of the given entity is determined. [Number 7] Coarse absolute bearing = (K1*Quad_Sensor_Angle + K2*Centre_Of_Sensors_Angle + K3*Big_Diago nal_Angle + K4*Small_Diagonal_Angle) / (K1+K2+K3+K4) (7) Here, K1, K2, K3, and K4 are multiplication constants that arise based on the confidence level of each angle representation. (Multiplication constant)

[0051] Figures 3A-3B show a second composite on an exemplary entity according to one embodiment of this specification. The positioning of the second sensor set at the numerical location is illustrated in Figure 3A. The second sensor set 302A-C is located on the left surface 304 of the exemplary entity 200. It is located along the second sensor set 302A-C also represents exemplary entity 200 It may be located along the right surface (not shown). The second sensor set 302A-C is located along the side wall Alternatively, it provides a measurement of the distance (d) of the entity from a fixed structure located on the side of the path. .

[0052] As further explained with Figure 3B, the relative position and direction estimation unit 108 is determined by distance Based on (d), the deviation from the predetermined path (ideal navigation path) is determined. Figure 3B This is an embodiment of a navigation system from a predetermined path during navigation in a navigation space. This shows the process for determining the deviation of entities. As depicted in Figure 3B, the entities The width of 200 is represented by "b" 306, and entity 200 from the left wall 310 The distance is represented by "d" 308. The relative position and direction estimation unit 108 is number Determine the deviation (Δw) 312 given by 8. [Number 8] Δw = w / 2 - (d+b / 2) (8) Here, w / 2 is the distance between the left wall 310 and the predetermined path 304, and the predetermined path and navigation With assembly line 1 314 or assembly line 2 316 in the gated space It represents the distance between two things.

[0053] According to one embodiment of this specification, the relative position and orientation estimation unit 108 is shown in Figure 3C. As shown in the image, the relative position of entity 200 within a marked passage like a lane By determining the placement of the front, rear, and / or central parts of entity 200, Furthermore, based on one sensor (for example, an image capture device) from the second sensor set... Next, the relative position and / or relative orientation of entity 200 is determined. It is configured as shown in Figure 3A, with the front part 206 and the rear part 204 respectively The placed sensors 306A and 306B represent one such embodiment.

[0054] Figure 3C shows the relative position and relative orientation of entity 200 according to one embodiment of this specification. This illustrates how to determine this. More specifically, Figure 3C shows the front side of entity 200. Front view of entity 200 having a sensor (image capture device) 320 located A perspective view is drawn. The entity navigates along a predetermined path 304. Sensor 3 20 captures the relative distance of entity 200 to a pair of lane lines 322 and 324. The relative position and orientation estimation unit 108 determines the center of the entity (sensor or image key). Based on the distance from the location where the capture device is placed, a predetermined path (or ideal path) is determined. Determine the deviation Δw of entity 200 from 304. Deviation Δw of entity 200 This is determined based on number 8. Also, the angle of the lane lines is sensed by sensor 320. The difference is that the relative position and orientation estimation unit 108 determines the relative position and orientation of the entity with respect to the lane lines. This makes it possible to determine the direction.

[0055] According to one embodiment of this specification, the relative position and orientation estimation unit 108 is located along a predetermined path 3 Using the system that provides depth information 04, the relative position and relative position of entity 200 The direction is determined. Using depth information, the relative position and direction estimation unit 108 determines the virtual direction. The line is then described, and then, as explained with Figures 3B-3C, from the predetermined path 304 The deviation is identified.

[0056] Figures 4A-4B show the transformed navigation plane 40 according to one embodiment of this specification. As shown in 4, the navigation plane 402 always aligns the predetermined path with the Y axis. Describe the transformation, and the rough absolute position becomes the transformed rough absolute position of the entity. Convert. Floor alignment similar to that in Figure 3B is determined based on the converted rough absolute position. By improving only the Y value from a set XY coordinate system, entities from a predetermined path can be detected. A simple step is required to increase the deviation by 200. Factory floor alignment with the XY axes. Regarding general solutions to eliminate the constraints of the axis, the analysis unit 112, for example, the Y-axis, etc. Rotate a predetermined path (line segment) in a plane so that it is always aligned parallel to one of the axes. Therefore, the conversion is performed. As shown in Figure 4A, (x,y) is a rough absolute position and direction estimation. If it is an absolute coordinate set of entity 200 provided by knit 106, The analysis unit 112 sets the initial plane 402 to θ (angle between the entity's direction and the Y-axis). Only rotate to obtain the transformed plane 404 parallel to the Y-axis. In the transformed plane 404 the transformed coordinates of the entity 200 are (x t , y t ), where x t is given by the number 9. [Number 9] JPEG0007833505000001.jpg12153

[0057] The deviation from the predetermined (ideal) path in the transformed plane 404 is a single refinement to only x t . Therefore, the analysis unit 112 applies the refinement based on the instantaneous relative position of the entity 200 received from the relative position and orientation estimation unit 108, and obtains the coordinates (x’ , y t ). Given the starting coordinates (x , y t ) in the predetermined path, the transformed x i value x i is given by the number 10. i i t [Number 10] JPEG0007833505000002.jpg7153

[0058] After transformation, the predetermined (ideal) path becomes parallel to the Y-axis, and all values of the predetermined path may have the same value x i t . The analysis unit 112 applies the refinement to x based on the instantaneous relative position of the entity 200 received from the relative position and orientation estimation unit 108, and obtains x’ t given by the number 11. t [Number 11] x’ t = x i t - Δw (11) If the wall is to the right of entity 200's navigation direction, then x' t This is according to the number 12. It is given. [Number 12] x' t = x i t + Δw (12) If the wall is to the left of the navigation direction of entity 200, then Δw is number 8 (Figure 3B). The deviation of entities with respect to a predetermined path 304 derived using (which will be explained further) ri, x i t is the transformed "x" value of the starting coordinate in the ideal path, and w is the width of the path. And d is the relative distance reported from the side of entity 200 to the wall by multiple sensors. This is the distance, and b is the width of entity 200.

[0059] According to one embodiment of this specification, as depicted in Figure 4B, the analysis unit 112 is (x' t ,y t To obtain the plane, after rotation and translation, navigate the plane to plane 40. Rotate back to the original orientation of 2. The analysis unit 112 is given navigation by number 13. Obtain the precise absolute position (x', y') of entity 200 in plane 402. ru.

[0060] [Number 13] JPEG0007833505000003.jpg10153

[0061] The precise absolute coordinates (x',y') can be set to a predetermined path 304 with a maximum error of, for example, 10 cm. Provides the precise absolute position of entity 200.

[0062] According to one embodiment of this specification, the analysis unit 112 is a relative position and orientation estimation unit. Using the relative orientation of the entity provided by T108, the absolute orientation of the entity Derive the position. The transformed path at 404 is parallel to the Y-axis, so the transformed path The road orientation is 90 degrees. The transformation shown in 404 is based on the relative orientation of the entity. The absolute bearing of the path is improved, and then the original navigation plane 402 is rotated. By converting back to orientation, the absolute orientation of the entity in the navigation plane 402 is , obtained. This absolute bearing, along with the rough absolute position and bearing estimation unit (106) The weighted combination with the provided coarse absolute orientation is derived by the analysis unit (112). Provides the final precise absolute orientation of the entity being output. Weighting is based on relative position and Determination from the direction estimation unit 108 and the coarse absolute position and direction estimation unit (106) It is determined based on the precision provided by the relative input.

[0063] Figure 5 shows an embodiment of this specification using the system 102 of Figure 1 to a predetermined frequency Find the precise absolute position and precise absolute orientation of entities at intervals of several units, and navigate A process that facilitates the navigation of entities 200 along a predetermined path in space. This is a flow diagram showing the navigation of entities. Step 502 shows the navigation of entities. The navigation starts along a predetermined path in the navigation space. In step 504, At least one of the rough absolute position and rough absolute orientation of an entity is the entity From among the multiple sensors positioned at the first multiple locations above, the first sensor set The determination is made based on the captured location data. In step 506, the entity, At least one of a plurality of relative positions and relative orientations is a second plurality on the entity From among multiple sensors positioned at a specific location, data captured from a second diverse set of sensors Based on the dataset, a determination is made regarding the predetermined path. In step 508, the rough absolute position Based on the location and navigation map, from among multiple relative positions and relative directions, a predetermined direction is selected. Select at least one of the relative position and relative orientation of an entity with respect to the road. In Step 510, the precise absolute position and precise absolute orientation of an entity are determined by navigation. Using a map, rough absolute position based on relative position and rough absolute position based on relative orientation. The position is determined by fine-tuning, and the navigation map uses map data and historical data. It is generated based on a machine learning model that is based on the navigation data. In step 512 This verifies whether or not the destination is reached. If the destination is reached, in step 514, Navigation will stop. If the destination is not reached, steps 504 through 512 will be... It repeats.

[0064] Figure 6 shows a typical navigation scenario according to one embodiment of this specification. When Titi traverses from point A to point D, the entity enters the navigation space. Navigate through various sections. During the navigation process, regarding each section... The relative position of entities is provided by each section of the layout, Retrieved based on the context and attributes provided by the navigation map. Example For example, when an entity navigates through section A and B, its relative position is on the left. It is obtained with respect to the adjacent wall (602). Between point B and point C, lane marking ( 604) provides a representation of the relative position of entities with respect to lane lines. Furthermore, sector To navigate via the CD, the adjacent wall on the right (606) is the entity. Used to find the relative position of a given navigation section. Based on the system, seamless switching over between sensors during navigation is possible. Supported by a punctuation map.

[0065] Figure 7 shows a precise representation of the absolute position and orientation of an entity according to one embodiment of this specification. This invention demonstrates the improvements provided by this invention, enabling reliable navigation and successful achievement of goals. Enhance the capabilities of the entity. With respect to a given navigation, precise absolute position (7 A comparison of the trajectory between (04) and the rough absolute position (702) is the trajectory provided by the present invention. This clearly demonstrates consistency.

[0066] Figure 8 shows a part of a second diverse sensor set according to one embodiment of this specification. This document illustrates one embodiment of using a tactile sensing device to determine the relative orientation of an entity. According to embodiments further described with Figures 4A-4B, the navigation plane 402 It is rotated so that it aligns parallel to the Y-axis along a predetermined path. This transformed plane 40 In 4, using the distance measurement provided by proximity sensors 802a-c, 802 The slope of the line connecting points A and C can be obtained in the transformed plane 404. By rotating it back to the navigation plane 402, the inclination of the line is affected by a similar rotation. This corrected slope of the line is the absolute of the entity in the navigation plane 402. Giving a scale for the intermediate representation of opposing directions, the precise absolute direction of entity (200) is given by the rough absolute direction. It is obtained as a weighted combination of the direction and an intermediate representation of the entity's absolute direction.

[0067] In the navigation space disclosed herein, entities are guided along a predetermined path. Various embodiments of the systems and processes to be viewed include absolute positioning. A system and one such embodiment which is wireless technology (local positioning system Using a combination of (M) and a relative sensor data embodiment, instantaneous accuracy of absolute position This technology facilitates the expression of location by referring to either short-term or long-term historical data. The need for a training phase that does not require judgment and generates arbitrary templates for future comparisons. It lacks functionality. Furthermore, in this technology, data from multiple sensors does not refer to historical data. Since it is simultaneously captured and reaches an instantaneous absolute position representation, the quality of the absolute position remains the same. Due to its dependence on the recency of older data, it does not degrade during any given time interval, and The opposing position also does not depend on a fixed reference point on the floor. Therefore, the dynamic change in the position of the fixed reference point is not dependent on the position of the fixed reference point. The vulnerabilities associated with the modification are completely avoided. The introduction of a new navigation path, already Planned changes, such as the demolition of existing walls and the construction of new walls, will be maintained in terms of location. It can be updated to a unique floor map. Furthermore, this technology allows for navigation Planned changes such as altering the road layout or modifying the layout to demolish walls. Unless otherwise specified, this eliminates the need to rely on any dynamically changing scenarios on the floor, and is also good We provide cost-effective systems and processes that deliver high accuracy.

[0068] Furthermore, this technology uses coarse absolute positioning and specific features in the navigation space. Using a unique combination of relative positions extracted from various sensors, the precise absolute position To achieve precise absolute positioning of entities in navigation space, This technology makes it possible to determine the direction of direction. This technology also offers better accuracy compared to existing technologies. Based on context supported by a unique navigation map that provides degrees This enables seamless switchover between sensors during navigation. Using precise absolute position and precise absolute orientation, ensure reliable navigation of entities. This enables the minimization of deviations from the ideal path, thus reaching the target accurately.

[0069] The above description of specific embodiments fully illustrates the general nature of the embodiments herein. Therefore, others may deviate from higher concepts by applying their current knowledge. Furthermore, it is possible to easily modify and / or adapt to various uses, such as specific embodiments. Therefore, such adaptations and modifications are within the meaning and equivalent scope of the disclosed embodiments. It should be understood and intended to be used in this specification. The language or terminology used herein is intended to be descriptive. It should be understood that this is for the purpose of and not intended to be limiting. Therefore, this specification The embodiments described herein are in reference to preferred embodiments, and those skilled in the art will be able to implement the embodiments described herein. It is recognized that the form may be implemented with modifications within the spirit and scope of the attached claims. Let's do it.

[0070] The embodiments described herein are explained in various specific embodiments, but to those skilled in the art, It will be apparent that the embodiments of this specification will be implemented with modifications.

Claims

1. A method for facilitating the navigation of an entity along a predetermined path in a navigation space, by providing one of the precise absolute position and precise absolute orientation of an entity at a predefined frequency / interval, a) Step (502) to start navigating the entity along the predetermined path in the navigation space, b) From among a plurality of sensors arranged at a first plurality of locations on the entity, determine at least one of the rough absolute position and rough absolute orientation of the entity based on a position dataset captured by the first sensor set (504), c) From among the plurality of sensors positioned at a second plurality of locations on the entity, determine at least one of a plurality of relative positions and relative orientations of the entity with respect to the predetermined path based on a dataset captured from the second sensor set (506), d) Based on the rough absolute position and navigation map, select at least one of the relative position and relative orientation of the entity with respect to the predetermined path from among the plurality of relative positions and relative orientations (508), e) A step (510) in which the precise absolute position and precise absolute direction of the entity are determined by using the navigation map to fine-tune the rough absolute position based on the selected relative position and the rough absolute direction based on the selected relative direction, wherein the navigation map is generated and updated based on a machine learning model based on map data and historical navigation data, f) A step (512) to verify whether or not the destination will be reached, g) i) If the destination is not reached, repeat steps b) through f), ii) When the destination is reached, the step of performing any one of the following: Methods that include...

2. The method according to claim 1, comprising the step of selecting a relative position and a relative orientation from a plurality of inputs from a relative position and orientation estimation unit, wherein the plurality of inputs are derived by the relative position and orientation unit using the second sensor set, and the specific input to be used is selected by the navigation map based on the rough absolute position of the entity.

3. The method according to claim 1, comprising the step of selecting and using a relative position and a relative orientation from a plurality of inputs from the relative position and orientation estimation unit while navigating through different sections of a navigation layout which include a plurality of line segments or a single line segment having mutually different physical attributes, wherein the selection is guided by the navigation map based on the rough absolute position of the entity, and the navigation map provides the physical attributes associated with each such line segment, the physical attributes being the presence of walls adjacent to the navigation path and lane markings.

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