Vehicle Sensor Module Motion Compensation for Accurate Positioning
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Solution Overview
Problem
Sensor systems, particularly in autonomous vehicles like UAVs, face inaccuracies in determining object positions and vehicle navigation due to non-fixed sensor locations and movements relative to other sensors, leading to inaccuracies in sensor signal information.
Innovation Solution
A system that includes sensor modules coupled to a vehicle frame, a processor to estimate relative motion of these modules, and an image processor to calculate positions and movements of objects and the vehicle by analyzing image frames, improving accuracy by accounting for sensor movement and orientation changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If sensors are mounted on a moving vehicle frame, then the sensor system can be used for mobile applications like autonomous vehicles, but the sensor locations become non-fixed and movement relative to other sensors imparts inaccuracies in the determined information
Solution Approach 1:
The system uses sensors to detect relative motion between sensor modules and feeds this information back to the processor. The processor then compensates for the detected motion when determining object positions, creating a closed-loop system that continuously corrects for movement-induced inaccuracies.
Solution Approach 2:
The patent introduces an intermediary processing step where relative motion between sensors is measured and used as a correction factor. This intermediary measurement of sensor-to-sensor motion mediates between the raw sensor data and the final position calculation, eliminating the need for fixed sensor mounting.
2Duration of action of moving object
If the vehicle frame experiences vibration and flexing, then the vehicle can operate in dynamic environments, but the locations of sensors change relative to one another and relative to a portion of the vehicle, imparting inaccuracies
Solution Approach 1:
Sensors continuously monitor the relative motion caused by vibration and flexing, providing real-time feedback to the processor. The processor uses this feedback to dynamically adjust position calculations, maintaining accuracy despite the vehicle operating in dynamic environments with continuous vibration and movement.
Solution Approach 2:
The system transitions from assuming fixed sensor locations to dynamically tracking and compensating for sensor motion. The processor continuously updates the relative positions of sensors based on measured motion, making the system adaptive to changing physical conditions rather than relying on static calibration.
3Measurement precision
If relative motion of sensor modules is determined and compensated for, then the accuracy of position and movement determination is improved, but the device complexity increases due to additional sensors and processing requirements
Solution Approach 1:
The system uses the same sensor modules to perform multiple functions: both to detect objects in the environment and to measure relative motion between themselves. This multi-functionality eliminates the need for separate dedicated motion sensors, reducing overall system complexity while maintaining high measurement precision.
Solution Approach 2:
The sensor modules serve themselves by using their own relative motion as measurement data. The system doesn't require external reference frames or additional dedicated instruments; the sensors' movement relative to each other provides the correction data needed, making the system self-sufficient and reducing complexity.
Data Source
AI summary
A system may include sensor modules configured to generate sensor signals representative of an environment surrounding a vehicle, and a sensor configured to be coupled to the frame of the vehicle at a location spaced from a first sensor module and configured to generate sensor signals representative of movement of the first sensor module relative to a portion of the frame. The system may also include a sensor processor configured to receive the sensor signals representative of movement of the first sensor module and estimate relative motion of the first sensor module relative to the portion of the frame of the vehicle. The sensor processor may also be configured to calculate, based at least in part on the relative motion estimation, a position, orientation, and/or velocity of the vehicle, and a position of objects in the surrounding environment and/or movement of the objects in the surrounding environment.