Moving State Estimation with Constraint Correction
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Solution Overview
Problem
Existing methods for estimating the moving state of a moving object, such as the Kalman filter, rely heavily on the accuracy of reference sensors, leading to reduced estimation accuracy when sensor detection is low.
Innovation Solution
A method that estimates a first moving state and sets a constraint condition based on a previously-calculated second moving state to correct and calculate a new second moving state, improving accuracy by aligning with state variation tendencies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If reference information from external sensors is used as observation information for Kalman filter calculation, then the moving state can be estimated, but inaccurate reference information leads to inaccurate estimation results
Solution Approach 1:
The patent applies beforehand cushioning by pre-establishing the constraint condition (equation 1) that cushions against the impact of inaccurate reference information. This constraint condition is prepared in advance and continuously applied to correct estimation deviations, protecting the estimation accuracy from degradation due to poor sensor performance.
2Device complexity
If only detection accuracy of reference sensor is used for estimation, then the calculation process remains simple, but the estimation accuracy cannot be improved beyond sensor limitations
Solution Approach 1:
The patent introduces dynamics by making the estimation process adaptive through the constraint condition. The correction amount dynamically adjusts based on the difference between the estimated moving state and the previously calculated moving state, allowing the system to automatically adapt to varying conditions without increasing computational complexity significantly.
Data Source
AI summary
A first moving state at a given time including any of a position, a velocity, and a moving direction of a moving object moving in a space is estimated. A constraint condition for calculating a second moving state at the given time is set using the first moving state and a previously-calculated second moving state including any of a position, a velocity, and a moving direction of the moving object moving in the space. The first moving state is corrected using the constraint condition to calculate the second moving state at the given time.