ERROR MITIGATION TECHNIQUES FOR DEPENDENT SENSOR SIGNALS

Organization Name

Inventor(s)

Vicent Rodrigo Marco of Blacksburg VA (US)

ERROR MITIGATION TECHNIQUES FOR DEPENDENT SENSOR SIGNALS

This abstract first appeared for US patent application 20240419174 titled 'ERROR MITIGATION TECHNIQUES FOR DEPENDENT SENSOR SIGNALS

Original Abstract Submitted

embodiments described herein implement an improved autonomy system with a beneficial approach to implementation a localization loop. when the automated vehicle loses access to geolocation data updates, the autonomy system invokes a geo-denied localization loop that performs map localization and motion estimation functions without geolocation data. the localization loop feeds map localizer outputs into a motion estimator of the ins and/or the imu, and feeds motion estimation outputs from the motion estimator back into the map localizer. when executing the localization loop, the autonomy system detects outlier measurements as errors in the map localizer and mitigates the errors in the map localizer or the motion estimator. the autonomy system executes programming in an error detection phase for monitoring and detecting errors in the localization loop, and an error mitigation phase for mitigating or resolving errors, such as applying a covariance boosting value on outputted data values.