Mobile Device Velocity Vector Decomposition for GPS-Free Target Following
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Solution Overview
Problem
Existing autonomous mobile devices face challenges in achieving omnidirectional target following without external control, particularly in navigating relative positions without relying on absolute position sensors like GPS.
Innovation Solution
The method involves acquiring relative velocity vectors and included angles to generate control laws for autonomous mobile devices, allowing them to follow target objects by decomposing target relative positions into translation and rotating velocity components, using only relative position sensors for navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If absolute position sensors like GPS are used for navigation, then positioning accuracy is improved, but device complexity and dependency on external satellite systems increase
Solution Approach 1:
The patent introduces relative position sensors as an intermediary measurement tool that indirectly determines navigation information through relative motion measurements between devices, rather than directly measuring absolute position. This mediator approach eliminates dependency on satellite systems while achieving positioning capability through relative measurements and coordinate transformations.
Solution Approach 2:
The patent replaces the satellite-based electromagnetic positioning system with a relative mechanical measurement system using onboard sensors to measure relative position and velocity. By substituting the external satellite system with local relative measurements and applying coordinate transformations, the system achieves positioning without mechanical or electromagnetic dependency on external infrastructure.
2Device complexity
If relative position sensors are used instead of absolute position sensors, then device complexity is reduced, but the difficulty of detecting and measuring absolute position increases
Solution Approach 1:
The patent creates a virtual copy of the absolute positioning system by using relative position sensors to measure and calculate equivalent navigation information. Instead of directly measuring absolute position, the system copies the functionality of absolute positioning through relative measurements, coordinate transformations, and velocity calculations, achieving the same navigational capability with simpler sensors.
Solution Approach 2:
The patent transitions from measuring position in the absolute spatial dimension to measuring relative position and velocity in a different dimensional framework. By changing the measurement dimension from absolute coordinates to relative motion parameters, the system simplifies sensor requirements while maintaining navigation capability through mathematical transformation.
3Adaptability or versatility
If omnidirectional target following is implemented, then adaptability is improved, but control system complexity increases due to multiple velocity components
Solution Approach 1:
The patent segments the complex omnidirectional control problem into distinct velocity components: relative velocity from position changes and self-velocity from device motion. By dividing the control task into these segments and calculating each separately, then combining them through vector addition, the system achieves omnidirectional following capability while managing control complexity through modular calculation.
Solution Approach 2:
The patent introduces dynamic coordinate transformations that adapt to the relative motion state between devices. By making the coordinate system dynamic rather than static, the system can handle omnidirectional following in varying motion conditions. The dynamic transformation allows the control system to adjust to different relative velocities and positions, achieving versatility while keeping control logic manageable through adaptive coordinate changes.
Data Source
AI summary
The present invention discloses an information processing method applied to a mobile device, including: acquiring a first vector, wherein the first vector is used for describing the change of a relative velocity between the mobile device and a followed target object caused by the own movement of a first coordinate system which is fixedly connected with the mobile device; acquiring a second vector, wherein the second vector is a relative velocity vector between the mobile device and the followed target object; adding the first vector to the second vector to acquire a third vector, wherein the third vector is an absolute velocity vector of the target object; and acquiring a first included angle according to the third vector, wherein the first included angle is an included angle between the own absolute velocity vector of the mobile device and the third vector; and generating a control law for controlling the movement of the mobile device according to the first included angle. The invention further discloses a mobile device and a computer storage medium.