Wheel-Slip-Aware Position Estimation Using Adaptive Sensor Fusion
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Solution Overview
Problem
Slippage between a moving apparatus's wheel and the surface can lead to decreased accuracy in self-position estimation, as the rotation amount of the wheel may not match the actual movement, affecting sensor fusion accuracy.
Innovation Solution
A position estimation system that includes a first sensor for angular velocity data and a second sensor for position or posture change data, with a self-position estimation unit setting priorities based on angular velocity to integrate data effectively, reducing the impact of slippage by downgrading the priority of wheel data during large slippage events.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If wheel rotation data is used for sensor fusion to estimate position, then the position estimation can be continuously updated during movement, but slippage between wheel and surface causes the rotation amount to not match actual movement, decreasing estimation accuracy
Solution Approach 1:
The patent dynamically adjusts the priority of wheel sensor data based on detected slippage conditions. When slippage is detected (through comparison of expected vs. actual wheel rotation), the system reduces the weight given to wheel rotation data in the sensor fusion algorithm, thereby adapting to changing reliability conditions and maintaining position estimation accuracy despite slippage events
Solution Approach 2:
The system changes the parameter of data priority weighting based on slippage detection. By monitoring whether wheel rotation correlates with actual movement and adjusting the priority parameter accordingly, the system optimizes the contribution of wheel data to position estimation, reducing harmful effects when slippage occurs while maintaining benefits when conditions are good
Data Source
AI summary
A position estimation system and the like that prevent accuracy of self-position information from decreasing is provided. A position estimation system 100 according to the present disclosure includes a first sensor configured to output first data including data of an angular velocity of a wheel driven when a moving apparatus 10 moves. The position estimation system further includes a second sensor configured to output second data including position data of the moving apparatus 10 detected not according to the angular velocity of the wheel or data concerning a change in a posture of the moving apparatus 10. The position estimation system further includes a self-position estimation unit configured to set a priority of the first data according to a value of the angular velocity of the wheel and integrate the first data with the second data based on the set priority to estimate a position of the moving apparatus 10.