Asynchronous Late-Fusion Sensor Buffer for Navigation Accuracy
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Solution Overview
Problem
Existing autonomous navigation systems face challenges in accuracy and reliability due to variations in sensor operational timing, leading to incomplete or outdated sensor measurements.
Innovation Solution
The system processes sensor data asynchronously and rearranges late-arriving measurements in temporal order, recalculating state information to account for the correct time of late measurements, thereby ensuring accurate and reliable navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor measurements are processed in the order they arrive, then processing speed is maintained, but measurement accuracy deteriorates due to late-arriving measurements
Solution Approach 1:
The system stores sensor measurements in a buffer with associated time indices before processing, allowing late-arriving measurements to be captured and inserted into the correct temporal position. This preliminary buffering action enables accurate state information calculation without permanent processing delay.
Solution Approach 2:
A measurement buffer acts as an intermediary between sensor inputs and state estimation processing. The buffer temporarily holds measurements with their time indices, enabling the system to reorder measurements temporally and process them in the correct sequence, thus resolving the conflict between processing speed and accuracy.
2Reliability
If the system waits for all sensor measurements before processing, then measurement completeness is improved, but real-time processing capability deteriorates
Solution Approach 1:
The system performs preliminary buffering of sensor measurements with time indices, allowing processing to begin with available measurements while maintaining the option to incorporate late-arriving measurements. This enables progressive processing that improves reliability without sacrificing real-time capability.
Solution Approach 2:
The measurement processing system dynamically adjusts between processing available measurements and waiting for additional measurements based on timing relationships. The buffer allows the system to be dynamic in its processing approach, balancing completeness and speed based on actual measurement arrival patterns.
3Measurement precision
If late sensor measurements are reinserted in correct temporal order, then state information accuracy is improved, but computational overhead increases
Solution Approach 1:
The processing system segments measurements by their time indices and uses these indices as keys for buffer management. This segmentation approach simplifies the reinsertion of late measurements, as the time index directly determines the correct position without requiring complex temporal analysis.
Solution Approach 2:
The system uses time indices as a key parameter to simplify buffer operations and measurement reordering. By changing from temporal analysis to index-based positioning, the system reduces computational complexity while maintaining accuracy in state information calculation.
Data Source
AI summary
Systems and methods for asynchronous late-fusion of measurements. State information and intermediate values may be calculated as measurements arrive and are stored. When late sensor measurements arrive out of the temporal order in which the measurements were generated, the late measurements are stored in temporal order rather than the order in which measurements arrive. State information is then recalculated to account for the late-arriving sensor measurement, with state outputs propagated forward in temporal order using the previously computed intermediate values to speed up computation. In this manner, more accurate revised state information is efficiently generated, accounting for any late-arriving measurements. This modular processing framework also enables sensors to be added or changed, which may cause measurements to arrive asynchronously, without having to reprogram the processing framework.