Self-Position Estimation Verification Using Multi-Checkpoint Deviation
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Solution Overview
Problem
The accuracy of self-position estimation for mobile objects is compromised when initial values are of low accuracy, and existing methods fail to adequately verify this accuracy, leading to potential inaccuracies in subsequent estimations.
Innovation Solution
A method and system that involve moving a mobile object to multiple check points to specify its position and posture on a map, using the information from these points as initial values for self-position estimation, and calculating deviations to verify the accuracy of the estimation, with repeated checks if deviations exceed a threshold, ensuring the accuracy of initial values and subsequent estimations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If initial values for self-position estimation are used without verification, then the self-position estimation process can start, but the accuracy of the estimation is compromised when initial values are of low accuracy
Solution Approach 1:
The patent applies preliminary action by performing verification of initial values before starting the self-position estimation process. The system moves the mobile object to check points, specifies positions on the map, and verifies accuracy of initial values before the estimation begins, ensuring that only accurate initial values are used to start the estimation process.
Solution Approach 2:
The patent implements feedback by calculating deviation between estimated positions and actual positions at check points. The system uses this deviation information to verify whether initial values meet accuracy requirements, and only allows the self-position estimation to proceed when verification succeeds, creating a closed-loop quality control mechanism.
2Measurement precision
If verification of initial value accuracy is performed, then the accuracy of self-position estimation is improved, but the time and complexity of the verification process increases
Solution Approach 1:
The patent applies partial action by performing verification only at specific check points rather than continuously throughout the entire estimation process. The system selects representative check points to verify initial values, which reduces the overall verification time while still ensuring accuracy. This selective verification approach balances thoroughness with efficiency.
Data Source
AI summary
A self-position estimation accuracy verification method includes a step of moving a mobile object to a first check point, a step of acquiring first check information, a step of starting a self-position estimation using the first check information as an initial value, a step of moving the mobile object to a second check point while continuing the self-position estimation, a step of acquiring second check information, and a step of calculating a deviation between a position and a posture of the mobile object on the map estimated by the self-position estimation at the second check point and a position and a posture of the mobile object on the map indicated in the second check information, and verifying the accuracy of the self-position estimation based on the deviation.