Mobile Platform Obstacle Localization Using IMU and Distance Sensing
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Solution Overview
Problem
Existing obstacle detection systems for mobile platforms lack directional information, making it difficult to determine the position of objects relative to the platform, which is crucial for avoiding collisions.
Innovation Solution
A method and system that measure distances between a mobile platform and objects at multiple positions, using sensors like time-of-flight or ultrasound sensors, to determine the object's position by solving a system of linear equations based on these measurements, and employing processors to calculate the object's coordinates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If single-element ultrasound sensors are used, then cost is reduced, but directional information cannot be obtained
Solution Approach 1:
The patent transitions from 1D distance measurement (single element) to 2D spatial localization by moving the sensor in multiple directions and positions. By collecting distance measurements at different angular positions and elevations, the system reconstructs 3D spatial information about obstacles, effectively adding dimensional information without using expensive array sensors.
Solution Approach 2:
The system performs preliminary scanning movements to collect distance information from multiple positions before determining the final obstacle position. The mobile platform or sensor executes pre-planned motion trajectories to gather sufficient spatial data points, enabling subsequent accurate localization without requiring complex sensor arrays.
2Loss of information
If arrayed ultrasound technology is used, then directional information can be retrieved, but cost becomes prohibitive
Solution Approach 1:
Instead of using multiple sensors simultaneously (spatial array), the patent uses a single sensor collected over time at different positions (temporal-spatial sampling). This approach achieves equivalent 3D spatial information by moving the sensor through multiple locations and angles, avoiding the high cost of arrayed sensors while maintaining directional and positional accuracy.
Solution Approach 2:
The system creates multiple virtual sensor positions by physically moving a single sensor to different locations. Each position provides a copy of the distance measurement from that specific viewpoint, and these copied measurements are combined to reconstruct the complete spatial picture, replacing the need for multiple simultaneous sensors.
3Measurement precision
If distance measurement at multiple positions is performed, then object position can be determined, but measurement time increases
Solution Approach 1:
The system uses periodic scanning motions where the sensor or mobile platform moves along predetermined trajectories at controlled intervals. By performing measurements at regular positional intervals during these periodic movements, the system efficiently collects sufficient data points for accurate localization while maintaining a predictable and optimized measurement timeline.
Solution Approach 2:
The measurement process is made dynamic by continuously moving the sensor or platform during operation rather than taking static measurements. The system adapts measurement positions and timing based on real-time conditions, optimizing the trade-off between collecting enough data for accurate positioning and minimizing the total measurement duration through intelligent motion control.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the mobile platform to obtain directional information about objects, allowing for effective obstacle detection and avoidance, improving safety and operational efficiency by determining the precise position of objects in its environment.
Implementation Method 1
measuring a distance between the mobile platform and an object at each of a plurality of positions of the mobile platform
Implementation Method 2
ultrasound is relatively inexpensively and can be used in outdoor imaging applications
Data Source
AI summary
A method of controlling a mobile platform includes measuring a distance between the mobile platform and an object when the mobile platform is located at each of a plurality of positions to obtain a plurality of measured distances each being obtained at one of the plurality of positions. Location information of the plurality of positions of the mobile platform is obtained by an inertial measurement unit (IMU) on the mobile platform. The at least two distance sensors being configured to capture data from different directions. The method further includes determining a position of the object based on the plurality of measured distances and the location information and controlling the mobile platform to avoid the object based on the results of the determined position of the object.