Hybrid Position Orientation Detection for Mobile Objects
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Solution Overview
Problem
Existing position detection methods for mobile objects, such as robots and vehicles, often fail to provide accurate orientation information, especially when the object rotates or moves in curved routes, leading to errors in movement control.
Innovation Solution
A combined apparatus and method using both an absolute position detection unit and a relative position detection unit, where the relative position is updated based on odometry and corrected using periodic absolute position data to ensure precise orientation and position detection at a high sampling rate.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS is used for position detection, then absolute position information can be obtained, but orientation information cannot be provided
Solution Approach 1:
The patent combines GPS (absolute position detection) with odometry (relative position detection) to create a hybrid position detection system. The GPS provides absolute position coordinates while odometry provides movement direction and orientation information. By merging these two detection methods, the system obtains both position and orientation data that neither method could provide alone.
2Productivity
If odometry is used for position detection, then high sampling rate and short distance precision are achieved, but error accumulates with increase of running distance
Solution Approach 1:
The patent uses GPS as a feedback mechanism to correct odometry errors. The odometry continuously tracks relative position changes at high sampling rates, while GPS periodically provides absolute position references. The system calculates the deviation between odometry-based position and GPS-based position, then uses this feedback to correct the odometry error, preventing error accumulation over long distances.
3Loss of information
If movement orientation vector is calculated from position differences, then orientation can be determined, but accurate orientation information is not provided when mobile object rotates in one place or moves in curved route
Solution Approach 1:
The patent introduces odometry as an intermediary measurement method that directly measures wheel rotation and movement distance. Instead of calculating orientation indirectly from position differences (which fails during in-place rotation or curved movement), the odometry directly measures the movement parameters through encoder sensors on the wheels, providing accurate orientation information for all movement types.
Data Source
AI summary
An apparatus for detecting a position and orientation of a mobile object includes: a relative position detection unit for acquiring a relative position with respect to movement of the mobile object; an absolute position detection unit for acquiring an absolute position of the mobile object; and a position updating unit for updating the position and orientation of the mobile object based on an initial or previous position of the mobile object and the relative position. The apparatus further includes: a position correction unit for updating a current position of the mobile object with the absolute position, and correcting the orientation of the mobile object by setting an orientation of the mobile object in the relative position equal to an orientation of the mobile object in the absolute position.