Localization Error Decomposition for Sensor Calibration
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Solution Overview
Problem
Current localization systems in automotive navigation and driver assistance systems cannot accurately trace the source of localization errors, leading to incomplete correction of position estimation errors in both absolute and map-relative localizations.
Innovation Solution
A method and apparatus that decompose localization errors into orientation-dependent and orientation-independent components by analyzing the intrinsic dynamics of sequential error differences between relative and absolute positions, allowing for targeted calibration and correction of sensors and map data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If map matching techniques are used to correct position errors, then position accuracy with respect to map is improved, but the source of error cannot be determined and absolute positioning accuracy cannot be improved
Solution Approach 1:
The patent segments the total localization error into distinct components: map errors and sensor errors. By decomposing the error source, the system can independently analyze and correct each component. The segmentation allows determining whether errors originate from map data inaccuracies or sensor malfunctions, enabling targeted corrections without losing error source information.
2Measurement precision
If offset values are determined to correct mismatch between map and GNSS positions, then map-relative position accuracy is improved, but absolute position accuracy remains unaffected
Solution Approach 1:
The patent introduces an intermediary analysis layer that processes localization errors without directly modifying the positioning output. This intermediary layer decomposes errors into map and sensor components, allowing independent correction strategies for each source while maintaining both map-relative and absolute positioning accuracy.
3Measurement precision
If correction data from base stations is used, then spatially correlated errors are corrected, but local receiver errors cannot be corrected
Solution Approach 1:
The patent creates a universal error analysis framework that handles multiple error sources (spatially correlated errors from base stations and local receiver errors) through a single integrated system. The error decomposition methodology applies universally to different error types, enabling comprehensive correction coverage for both GNSS-related and sensor-related localization errors.
Data Source
AI summary
The invention relates to a method for analyzing localization errors, wherein the method includes the steps of obtaining relative positions and absolute positions of an object moving within a mapped environment, which are generated sequentially over time, calculating differences between the relative positions and absolute positions to determine sequential localization errors, and decomposing the localization errors into a systematic error that is dependent on the orientation of the object and into a systematic error that is independent on the orientation of the object by analyzing the intrinsic dynamics of the localization errors.