Having A Self-contained Position Computing Mechanism (e.g., Dead-reckoning, Etc.) Patents (Class 701/472)
  • Patent number: 11415708
    Abstract: A positioning device includes a first GNSS receiver; a communication link configured to receive a spatial position, code measurements and carrier phase measurements of a second GNSS receiver; an input interface to a processing logic, the processing logic being configured to: calculate a position of the first positioning device from communicated data; and to estimate one or more parameters representative of multipath at the position of the first positioning device; wherein the communication link is configured to communicate to a second positioning device the parameters representative of multipath at the position of the first positioning device. Described developments comprise the use of multipath severity indicators, the determination of relative distances between receivers, validity conditions in time and/or space of multipath, various embodiments in a train or in a group of vehicles. Software aspects are discussed.
    Type: Grant
    Filed: December 21, 2018
    Date of Patent: August 16, 2022
    Assignee: CENTRE NATIONAL D'ETUDES SPATIALES (CNES)
    Inventors: Cédric Rouch, Denis Laurichesse, François-Xavier Marmet
  • Patent number: 11415705
    Abstract: A method of determining position includes observing a first signal from a first source at a first epoch. The method includes observing a second signal from the first source at a second epoch. The method includes observing a third signal from a second source at the first epoch. The method includes observing a fourth signal from the second source at the second epoch. The method includes generating a first set of comparison data based on the first signal and the second signal. The method includes generating a second set of comparison data based on the third signal and the fourth signal. The method includes determining whether cycle-slip exists based on the first set of comparison data and the second set of comparison data. The method includes determining a current position of a standalone global navigation satellite system (GNSS) receiver in response to a determination that cycle-slip does not exist.
    Type: Grant
    Filed: November 5, 2020
    Date of Patent: August 16, 2022
    Assignee: UNICORE COMMUNICATIONS, INC.
    Inventors: Kongzhe Chen, Gang Hu, Lei Huang
  • Patent number: 11416903
    Abstract: A transaction arbiter system and method is disclosed which incorporates a merchant function database under control of a transaction arbiter that permits merchants to interact in an automated way with bids generated by other merchants. Rather than utilizing fixed price schedules as taught by the prior art, the present invention permits each merchant to define a set of functions which describe how the merchant will respond to a customer request-for-quote for a given product or service. These merchant functions interact with both the customer request-for-quote and the results of other merchant functions to generate a dynamic real-time bidding system which integrates competition among merchant bidders to achieve an optimal consumer price for a given product or service.
    Type: Grant
    Filed: April 4, 2019
    Date of Patent: August 16, 2022
    Assignee: PRICE SETTER LLC
    Inventor: Jorge Arturo Maass
  • Patent number: 11410431
    Abstract: A vehicular control system includes a rear backup camera viewing at least rearward of the vehicle. With a trailer hitched to the vehicle, and based at least in part on image processing of captured image data during a backing-up maneuver, the image processor determines a distance between an axle of the trailer and the hitch of the vehicle and determines a trailer angle of the trailer hitched to the vehicle. During the backing-up maneuver of the trailer hitched to the vehicle, the vehicular control system determines a path of the trailer responsive to (i) a steering angle of the vehicle, (ii) the determined trailer angle of the trailer and (iii) the determined distance between the axle of the trailer and the hitch of the vehicle. The vehicular control system displays information to assist the driver in backing up the trailer hitched to the vehicle.
    Type: Grant
    Filed: February 1, 2021
    Date of Patent: August 9, 2022
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Sebastian Pliefke, Paul Jarmola, Thomas Wierich, Steven V. Byrne, Yuesheng Lu
  • Patent number: 11402514
    Abstract: A method of navigating with a global navigation satellite system (GNSS) includes receiving a GNSS signal, calculating a GNSS navigation solution according to the GNSS signal, identifying map information corresponding to the GNSS navigation solution, detecting features from the identified map information, and correcting a GNSS navigation based on the features detected from the map information and the GNSS signal.
    Type: Grant
    Filed: September 8, 2020
    Date of Patent: August 2, 2022
    Inventors: Debo Sun, Qi Li
  • Patent number: 11397086
    Abstract: Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.
    Type: Grant
    Filed: January 6, 2020
    Date of Patent: July 26, 2022
    Assignee: QUALCOMM Incorporated
    Inventors: Vinod Kumar Saini, Abdelmonaem Lakhzouri, Bo Zheng, William Morrison, Vivek Sankaravadivel
  • Patent number: 11378403
    Abstract: Using geo-mapping data and only at least one inertial sensor, a Bayesian estimator uses at least one element of an uncorrected inertial navigation vector, of a moveable object on a surface, to estimate inertial navigation error information including corresponding statistical information. The estimated inertial navigation error information is used to error correct the uncorrected inertial navigation vector. The Bayesian filter also predicts inertial navigation error information, including corresponding statistical information, for a future time instance when a next uncorrected inertial navigation vector will be obtained.
    Type: Grant
    Filed: July 26, 2019
    Date of Patent: July 5, 2022
    Assignee: Honeywell International Inc.
    Inventors: Jindrich Dunik, Milos Sotak, Milos Vesely, Wesley J. Hawkinson, Kenneth Steven Morgan
  • Patent number: 11366236
    Abstract: A signal of opportunity (SOP)-aided inertial navigation system (INS) framework provides various technical solutions to technical problems facing GNSS implementations. A mobile receiver, whether handheld or vehicle-mounted, has access to Global Navigation Satellite System (GNSS) signals, multiple unknown terrestrial SOPs, and IMU measurements, which are used to estimate receiver states. When GNSS signals become unreliable, the mobile receiver continues to navigate using the SOP-aided INS. The SOP-aided INS produces bounded estimation errors in the absence of GNSS signals, and the bounds are dependent on the quantity and quality of exploited SOPs.
    Type: Grant
    Filed: September 22, 2017
    Date of Patent: June 21, 2022
    Assignee: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Zak M. Kassas, Joshua J. Morales
  • Patent number: 11358337
    Abstract: Techniques for flexible, on-site additive manufacturing of components or portions thereof for transport structures are disclosed. An automated assembly system for a transport structure may include a plurality of automated constructors to assemble the transport structure. In one aspect, the assembly system may span the full vertically integrated production process, from powder production to recycling. At least some of the automated constructors are able to move in an automated fashion between the station under the guidance of a control system. A first of the automated constructors may include a 3-D printer to print at least a portion of a component and to transfer the component to a second one of the automated constructors for installation during the assembly of the transport structure. The automated constructors may also be adapted to perform a variety of different tasks utilizing sensors for enabling machine-learning.
    Type: Grant
    Filed: May 24, 2017
    Date of Patent: June 14, 2022
    Assignee: DIVERGENT TECHNOLOGIES, INC.
    Inventors: Kevin Robert Czinger, Broc William TenHouten, David Charles O'Connell, Jon Paul Gunner, John Russell Bucknell, Alex James Hamade, David Brian TenHouten
  • Patent number: 11359353
    Abstract: Provided are methods for controlling loading/unloading of a material (from a load-delivering unit to a load-receiving unit, wherein at least one of the load-delivering unit and the load-receiving unit is a working machine vehicle configured to transport a load of material from a first location to a second location, and wherein at least the load-delivering unit is provided with a control unit configured to control operation of the load-delivering unit. Methods include receiving a first signal indicative of the material associated with the load-delivering unit; receiving a second signal indicative of the material intended to be received by the load-receiving unit; and comparing material information related to the first signal with material information related to the second signal.
    Type: Grant
    Filed: January 29, 2019
    Date of Patent: June 14, 2022
    Assignee: VOLVO CONSTRUCTION EQUIPMENT AB
    Inventor: Lars Thunberg
  • Patent number: 11350235
    Abstract: A compound sensor system includes a first sensor, a second sensor, a memory that stores a module, and a processor coupled to the first sensor, the second sensor, and the memory. The first sensor is configured to detect a parameter that indicates a likelihood of having a user enter or leave a target area, and, in response, send a first command signal to the processor. The processor is configured to receive the first command signal from the first sensor and send a second command signal to the second sensor based on receiving the first command signal. The second sensor is configured to operate at a sleep mode and switch to an active mode upon receiving the second command signal, and during the active mode the second sensor is configured to determine if the user enters or leaves the target area.
    Type: Grant
    Filed: July 25, 2020
    Date of Patent: May 31, 2022
    Assignee: Tinoq Inc.
    Inventors: Daxiao Yu, Yang Sun, Chan-Soo Hwang
  • Patent number: 11349559
    Abstract: According to one or more of the embodiments herein, systems and techniques are provided for accurately determining a round trip time (RTT) to a satellite. In particular, a method according to one embodiment herein may comprise: receiving, at a device, a reference signal with a stable phase; measuring, by the device, a phase delta over time between the reference signal and an internal signal of an internal oscillator of the device; transmitting, by the device at a transmission time, a ranging signal toward a particular satellite; receiving, by the device at a reception time, a return of the ranging signal from the particular satellite; and determining, by the device, a round trip time (RTT) of the ranging signal that accounts for a phase drift of the internal oscillator between the transmission time and the reception time according to the measured phase delta over time.
    Type: Grant
    Filed: July 22, 2021
    Date of Patent: May 31, 2022
    Assignee: Higher Ground LLC
    Inventors: David Alexander Reuss, Darren Robert Reis, Shmuel Shaffer
  • Patent number: 11307291
    Abstract: Methods and apparatuses are provided for estimating a path of an aerial vehicle engaged in attacking network devices in a wireless communication network. A distance function corresponding to the aerial vehicle and a boundary node is determined based on an initial coordinate location of the aerial vehicle and an initial coordinate location of the boundary node. A function of jamming power received at the boundary node from the aerial vehicle is determined based at least on the first distance function and a transmission power of the boundary node. The function of jamming power represents a power associated with a jamming signal received from the aerial vehicle at the boundary node. A trajectory of the aerial vehicle at a plurality of time periods is estimated by the boundary node with an extended Kalman filter. The extended Kalman filter is determined based on the function of jamming power.
    Type: Grant
    Filed: June 21, 2021
    Date of Patent: April 19, 2022
    Assignee: King Abdulaziz University
    Inventors: Abdulah Aljohani, Ubaid M. Al-Saggaf, Muhammad Moinuddin, Waleed Aldosari
  • Patent number: 11282360
    Abstract: A body-worn tracking device (BWTD) includes a global navigation satellite system (GNSS) device, at least one motion sensor, at least one processor, and at least one memory device. The at least one memory device includes instructions that, when executed by the at least one processor, cause the at least one processor to determine, based on data generated by the at least one motion sensor, a net distance between the last known location of the BWTD and a current location of the BWTD. The instructions further cause the at least one processor to determine, based on the net distance, whether the BWTD is within a bounded area that includes the last known location; and responsive to determining that BWTD is not within the bounded area, output an indication that the BWTD is not within the bounded area.
    Type: Grant
    Filed: June 14, 2018
    Date of Patent: March 22, 2022
    Assignee: ATTENTI ELECTRONIC MONITORING LTD
    Inventors: Jonathan Dale Gandrud, Guruprasad Somasundaram, Arash Sangari, Robert W. Shannon, David Solomon Segal, James William Howard, Nicholas Andrew Asendorf, Deepti Pachauri, Saber Taghvaeeyan, Tyler William Olson
  • Patent number: 11268814
    Abstract: A movement information calculating device includes a positioning sensor, a velocity sensor, an attitude sensor and processing circuitry. The positioning sensor is configured to calculate a position of the positioning sensor on a movable body. The velocity sensor is configured to calculate a velocity of the movable body. The attitude sensor is configured to calculate an attitude of the movable body. The processing circuitry is configured to calculate a center-of-gravity position and a center-of-gravity velocity of the movable body by using the position, the velocity, and the attitude, and calculate one of a turning center position and a pivoting position of the movable body by using the center-of-gravity position and the center-of-gravity velocity.
    Type: Grant
    Filed: June 1, 2020
    Date of Patent: March 8, 2022
    Assignee: FURUNO ELECTRIC CO., LTD.
    Inventors: Hiraku Nakamura, Hiroyuki Toda, Naomi Fujisawa, Akihiro Hino
  • Patent number: 11220272
    Abstract: A detected data acquisition unit (21) acquires detected data outputted during a past reference period by a sensor (31) mounted on a moving body (100). A peripheral data acquisition unit (22) acquires peripheral data detected by a peripheral body existing on peripheral of the moving body (100). A failure determination unit (23) determines whether or not there is a failure in the sensor (31) based on whether or not the detected data includes detected data that identifies a detected content of which difference from a peripheral content identified from the peripheral data is within a reference scope.
    Type: Grant
    Filed: November 13, 2017
    Date of Patent: January 11, 2022
    Assignee: MITSUBISHI ELECTRIC CORPORATION
    Inventors: Naoyuki Tsushima, Masahiko Tanimoto, Masahiro Abukawa
  • Patent number: 11209555
    Abstract: A positioning method and apparatus for a mobile terminal, and a mobile terminal. After a first time period elapses, a main processor obtains M pieces of reliable navigation data from N pieces of buffered navigation data of the mobile terminal, and obtains K pieces of buffered position change data of the mobile terminal. The main processor combines the M pieces of reliable navigation data and the K pieces of position change data, to obtain position information of the mobile terminal in the first time period. The N pieces of navigation data are obtained through calculation by using a satellite navigation signal of the mobile terminal that is received during the first time period. The K pieces of position change data are obtained through calculation by using data that is obtained through monitoring by a sensor of the mobile terminal during the first time period.
    Type: Grant
    Filed: November 10, 2015
    Date of Patent: December 28, 2021
    Assignee: Huawei Technologies Co., Ltd.
    Inventors: Chenxi Lu, Yuanfeng Chen, Li Kang
  • Patent number: 11206544
    Abstract: An embodiment includes a method to increase the efficiency of security checkpoint operations. A security checkpoint kiosk serves as a Relying Party System (RPS). The RPS establishes a secure local connection between the RPS and a User Mobile-Identification-Credential Device (UMD). The RPS sends a user information request to the UMD, via the secure local connection, seeking release of user information associated with a Mobile Identification Credential (MIC). The RPS obtains authentication of the user information received in response to the user information request. The RPS retrieves user travel information based on the user information. The RPS determines that the user travel information matches the user information. When the user travel information matches the user information, the RPS approves the user to proceed past the security checkpoint kiosk.
    Type: Grant
    Filed: February 19, 2021
    Date of Patent: December 21, 2021
    Assignee: Apple Inc.
    Inventors: Daniel A. Boyd, Kelli L. Biegger, Chang Ellison, Brandon P. Gutierrez, Jason Lim, Ho Cheung Chung, Irene M. Graff, Martijn Theo Haring, Ahmer A. Khan, Franck Farian Rakotomalala
  • Patent number: 11199630
    Abstract: Systems, device configurations and methods are provided for indoor localization for a navigator receiver based on broadband communication signals such as LTE. In one embodiment, an LTE-IMU framework determines receiver position indoors. Two different designs of LTE receivers are provided based on code phase and carrier phase determinations of the received signal. A base/navigator framework is presented to correct unknown clock biases of the LTE eNodeBs. In this framework, the base receiver is placed outdoors, has knowledge of its own position, and makes pseudorange measurements to eNodeBs in the environment whose positions are known. The base transmits these pseudoranges to the indoor navigating receiver, which is also making pseudorange measurements to the same eNodeBs. The navigating receiver differences the base and navigator pseudoranges.
    Type: Grant
    Filed: September 30, 2020
    Date of Patent: December 14, 2021
    Assignee: The Regents of the University of California
    Inventors: Zak Kassas, Ali Abdallah, Kimia Shamaei
  • Patent number: 11169279
    Abstract: A work-vehicle position measurement system includes a reference station and a work vehicle. The reference station is provided at a reference position to measure a measured position of the reference position by receiving a radio wave from a satellite and to transmit reference information including the measured position. The work vehicle includes circuitry configured to obtain a calculated position of the work vehicle based on satellite information from the satellite and the reference information transmitted from the reference station, to control the work vehicle to travel along a predetermined travel route in a work field based on the calculated position of the work vehicle, and to manage map data of the work field to correspond to the reference information of the reference position.
    Type: Grant
    Filed: December 20, 2017
    Date of Patent: November 9, 2021
    Assignee: KUBOTA CORPORATION
    Inventors: Atsushi Shinkai, Kazuo Sakaguchi, Izuru Shimamoto, Kenji Tamatani, Megumi Suzukawa, Akisato Hori
  • Patent number: 11119112
    Abstract: A method for compensating for gyroscope drift on an electronic device includes receiving by a data processing unit, measurement data from a gyroscope. The method includes computing, by the data processing unit, a compensation parameter by analyzing the measurement data received from the gyroscope with respect to variations in temperature of the gyroscope. The method includes compensating, by the data processing unit, the measurement data by correcting the measurement data with the computed compensation parameter. The compensation parameter is continuously validated to correct the measurement data with the compensation parameter. Further, the received measurement data is updated continuously based on the computed compensation parameter, independent of the gyroscope on the electronic device, thereby facilitating adaptive drift compensation.
    Type: Grant
    Filed: July 27, 2018
    Date of Patent: September 14, 2021
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Priydarshi, Prabhushetty Mulage, Renju Chirakarotu Nair, Ashok Kumar Senapati, Naveen Krishna Yarlagadda, Raju Suresh Dixit, Raman Jaiswal, Seongsig Kang
  • Patent number: 11112508
    Abstract: A processor calibrates the velocity of a moving object by removing a velocity bias from the velocity of the moving object and calculates a DR solution based on the calibrated velocity of the moving object. In a case where a fixed solution is calculated in positioning calculation, the processor outputs the fixed solution as coordinates of the moving object, whereas in a case where a fixed solution is not calculated, the processor outputs the DR solution based on the calibrated velocity of the moving object as the coordinates of the moving object.
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: September 7, 2021
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventor: Kazuyuki Yoshino
  • Patent number: 11099029
    Abstract: The present invention relates to a method for estimating the movement of a walking pedestrian (1), the method being characterised in that it comprises the following steps: (a) Acquisition, by inertial-measurement means (20) rigidly connected to a lower limb (10) of said pedestrian (1) and positioned in such a way as to have substantially a movement of rotation with respect to a distal end (11) of said lower limb (10) at least when said distal end (11) of the lower limb (10) is in contact with the ground, of an acceleration and of an angular speed of said lower limb (10); (b) Estimation, by data-processing means (21, 31, 41), of a speed of said lower limb (10) according to said measured acceleration and said measured angular speed.
    Type: Grant
    Filed: October 10, 2016
    Date of Patent: August 24, 2021
    Assignee: SYSNAV
    Inventors: David Vissiere, Mathieu Hillion, Eric Dorveaux, Augustin Jouy, Marc Grelet
  • Patent number: 11100731
    Abstract: Techniques and examples pertaining to vehicle sensor health monitoring are described. A processor of a road-side station may receive first data from a vehicle and receive second data from one or more sensors associated with the road-side station. The processor may compare the first data and the second data. In response to a result of the comparing indicating a difference between the first data and the second data, the processor may generate a report.
    Type: Grant
    Filed: February 13, 2019
    Date of Patent: August 24, 2021
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventor: Joshua Scott Smith
  • Patent number: 11099562
    Abstract: Provided is an autonomous mobile robotic device that may carry, transport, and deliver one or more items in a work environment to predetermined destinations. The robotic device may comprise a container in which the one or more items may be placed. Once tasks are complete, the robotic device may autonomously navigate to a predetermined location.
    Type: Grant
    Filed: November 2, 2018
    Date of Patent: August 24, 2021
    Assignee: AI Incorporated
    Inventor: Ali Ebrahimi Afrouzi
  • Patent number: 11079761
    Abstract: A system, comprising a computer that includes a processor and a memory, the memory storing instructions executable by the processor to estimate path coefficients based on a difference between a vehicle location and a vehicle path. Estimating the path coefficients can include minimizing the difference while controlling path coefficient gain to maintain occupant comfort and safety. A vehicle can be operated based on the estimated path coefficients.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: August 3, 2021
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventor: Nitendra Nath
  • Patent number: 11061390
    Abstract: A fault isolation and ambiguity resolution system includes one or more analytic engines executable by a processing system and a reasoning system. The one or more analytic engines are operable to detect a fault associated with a monitored system based on data extracted from one or more data repository. The reasoning system includes a single fault isolator operable to identify an ambiguity group including the fault and one or more related faults of the monitored system. The reasoning system also includes an inference system operable to utilize evidence to resolve ambiguity between the fault and the one or more related faults of the ambiguity group as a diagnosis result.
    Type: Grant
    Filed: June 25, 2018
    Date of Patent: July 13, 2021
    Assignee: RAYTHEON TECHNOLOGIES CORPORATION
    Inventors: Allan J. Volponi, Liang Tang, Sang Jun Lee
  • Patent number: 11047992
    Abstract: In a case where a magnitude of a speed difference vector is smaller than a threshold in a state where a fixed solution is obtained continuously for a first time, a processor outputs a current RTK positioning solution as current coordinates of a moving object. On the other hand, when the magnitude of the speed difference vector is equal to or greater than the threshold in a state where the fixed solution is obtained continuously for the first time, the processor outputs a DR solution as the current coordinates of the moving object.
    Type: Grant
    Filed: April 27, 2018
    Date of Patent: June 29, 2021
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventor: Yasuhisa Yamazaki
  • Patent number: 11035691
    Abstract: A navigation method includes steps of: repeatedly emitting, by a wheel speed sensor, a pulse signal to a processor of a vehicle when the vehicle starts to travel from a start point of a route of a map; in response to receipt of a preset number of the pulse signals transmitting, by the processor, the preset number of the pulse signals to a portable device; calculating, by the portable device, a current position of the vehicle on the map based on a distance associated with the preset number of the pulse signals; and transmitting, by the portable device, data of the map having the current position to the processor so as to display the same.
    Type: Grant
    Filed: January 30, 2019
    Date of Patent: June 15, 2021
    Assignee: KWANG YANG MOTOR CO., LTD.
    Inventors: Ping-Chen Su, Te-Chuan Liu, Chen-Sheng Lin, Yi-Yang Tsai
  • Patent number: 11036231
    Abstract: An object is to enable a state of a vehicle to be precisely estimated by a Kalman filter. A navigation system 1 includes an observation unit 21 that observes an observable concerning a variation of the vehicle, based on an output from a sensor, and an estimation unit 22 that estimates a state quantity indicating a state of the vehicle by a Kalman filter, and the estimation unit 22 calculates a prediction value of the state quantity of the vehicle, calculates an error covariance matrix of the prediction value, by the Kalman filter to which an error of the observable is inputted as an error of the state quantity which is in a relation of calculus with the observable, and calculates an estimation value of the state quantity of the vehicle and an error covariance matrix of the estimation value by the Kalman filter, based on the prediction value and the error covariance matrix of the prediction value which are calculated.
    Type: Grant
    Filed: February 8, 2017
    Date of Patent: June 15, 2021
    Assignee: CLARION CO., LTD.
    Inventor: Kazuhiro Okada
  • Patent number: 11009355
    Abstract: The present disclosure discloses a method and apparatus for positioning a vehicle. In some embodiments, the method comprises: acquiring an a priori position of a to-be-positioned vehicle at a current positioning moment determined by performing a strapdown calculation between a previous positioning moment and the current positioning moment; determining a map area for searching in a laser point cloud reflected value map; matching a reflected value characteristic of a projection area generated by projecting a real-time laser point cloud, to obtain a map matching position according to a matching result; positioning, using the a priori position in combination with observation data of a vehicle-mounted global navigation satellite system (GNSS) receiver of the vehicle, to obtain a satellite positioning position; and fusing the a priori position, the map matching position and the satellite positioning position to generate a positioning result of positioning the vehicle at the current moment.
    Type: Grant
    Filed: January 19, 2018
    Date of Patent: May 18, 2021
    Assignee: Baidu Online Network Technology (Beijing) Co., Ltd.
    Inventors: Renlan Cai, Xiaolong Yang, Guowei Wan, Weixin Lu, Shiyu Song, Baoqiang Xu
  • Patent number: 10940889
    Abstract: The present invention relates to a vehicle control system (1) for controlling a trailer (5) coupled to a vehicle (3) during a reversing operation. The vehicle control system includes a processor (29) configured to determine an actual trailer travel direction (TACT) based on one or more sensor signals. The processor (29) receives a demanded trailer travel direction (TDEM), for example from a user. A maximum permissible hitch angle (?MAX) is calculated by the processor (29) and the demanded trailer travel direction (TDEM) is limited to an angle less than or equal to the calculated maximum permissible hitch angle (?MAX). The present invention also relates to a vehicle (3) incorporating the vehicle control system (1); and a method of controlling the reversing of the trailer (5).
    Type: Grant
    Filed: August 7, 2018
    Date of Patent: March 9, 2021
    Assignee: JAGUAR LAND ROVER LIMITED
    Inventors: Andrew Bradley, Sebastian Paszkowicz, Harpreet Singh
  • Patent number: 10928205
    Abstract: An in-vehicle device includes: an acquiring unit that acquires comparison information; and a detecting unit that detects an abnormality in a positioning device based on position information on a host vehicle output from the positioning device mounted in the host vehicle and the comparison information different from the position information.
    Type: Grant
    Filed: January 30, 2017
    Date of Patent: February 23, 2021
    Assignee: CLARION CO., LTD.
    Inventors: Takashi Kawauchi, Eriko Ando, Makoto Kayashima
  • Patent number: 10908300
    Abstract: A navigation method that includes receiving a satellite navigation signal from a satellite navigation system, determining a position based on the received satellite navigation signal, obtaining quality data indicative of a satellite navigation signal quality as a function of a location information, and correcting the determined position based on the satellite navigation signal quality.
    Type: Grant
    Filed: March 22, 2017
    Date of Patent: February 2, 2021
    Inventors: Frank Hermann, Ronald Koch, Volker Remuss, Alexander Witzel
  • Patent number: 10908251
    Abstract: A tracking device broadcasts beacon signals that are separated in time by broadcast intervals. The tracking device determines the broadcast intervals based on a behavior model. The behavior model specifies one or more conditions, such as times of day within a 24-hour day, and associates a usage probability with each condition. A higher usage probability causes the tracking device to broadcast beacon signals at shorter broadcast intervals. A mobile device in communication with the tracking device can reconfigure the behavior model, either by modifying portions of the behavior model or by replacing the behavior model with a different behavior model. This allows the behavior model to adapt to different circumstances, such as different usage patterns during weekdays, weekends, and vacations.
    Type: Grant
    Filed: March 3, 2020
    Date of Patent: February 2, 2021
    Assignee: Tile, Inc.
    Inventors: Josselin de la Broise, Aaron Okano, Akhila Hegde
  • Patent number: 10901094
    Abstract: A multimode tracking device includes a line of site (LOS) antenna; an LOS modem for communicating with other multimode tracking devices and for measuring power of a received signal; a satellite antenna; a satellite modem for communicating with a satellite for receiving and sending text messages, data and commands to and from external devices including a tracking and locating system; a Bluetooth or WiFi Direct interface for communicating with external mobile devices; an inertia measurement unit for providing motion tracking information; a user interface for interfacing with a user; and a processor for generating and displaying a line of bearing to the target on the display, based on the measured power and the motion tracking information. The multimode tracking device tracks assets and personnel and sends/receives text messages, data and commands to/from external devices both over the horizon via the satellite and locally via the LOS modem.
    Type: Grant
    Filed: August 1, 2018
    Date of Patent: January 26, 2021
    Assignee: Raytheon Blackbird Technologies, Inc.
    Inventors: Michael D. Koontz, Andrew H. Tran, Eric A. Banwart, Steven T. Hildner
  • Patent number: 10894320
    Abstract: A robot system includes a robot, a control circuit, a first wireless circuit, a second wireless circuit, and a teaching circuit. The first wireless circuit is connected to the control circuit. The teaching circuit is connected to the second wireless circuit to control the robot via the second wireless circuit, the first wireless circuit and the control circuit. The second wireless circuit is configured to transmit a control signal to the first wireless circuit with a first wireless communication scheme using frequency hopping, the robot being configured to be driven or not to be driven according to the control signal, and transmit an information signal to the first wireless circuit with a second wireless communication scheme in which a signal is transmitted in a case where a wireless resource is determined to be available, the information signal relating to driving of the robot.
    Type: Grant
    Filed: April 18, 2018
    Date of Patent: January 19, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Shoji Kurihara, Ken Nakamura, Kazutoshi Kobayashi, Osamu Matsumoto, Yumie Kubota
  • Patent number: 10895644
    Abstract: A physical quantity detection circuit includes a physical quantity signal generation circuit that generates a physical quantity signal according to magnitude of a physical quantity based on a detection signal output from a physical quantity detection element, an abnormality determination circuit that determines whether or not the physical quantity detection element is potentially abnormal based on a value of the physical quantity signal and an amount of change of the value of the physical quantity signal, and an abnormality diagnostic circuit that diagnoses whether or not the physical quantity detection element is abnormal if the abnormality determination circuit determines that the physical quantity detection element is potentially abnormal.
    Type: Grant
    Filed: October 29, 2018
    Date of Patent: January 19, 2021
    Inventor: Yoshinao Yanagisawa
  • Patent number: 10876859
    Abstract: An opportunistic calibration method continuously monitors a smartphone orientation and compensates for its variation, as necessary. The method relies on the probabilistic fusion of built-in sensors; in particular, the GPS, accelerometer, gyroscope, and magnetometer. The calibration method may utilize a state-machine approach along with an orientation stability detection algorithm to keep track of the smartphone orientation over time and to coordinate the calibration process in an opportunistic manner. An orientation calibration method may rely mainly on the probabilistic fusion of GPS and magnetometer sensory data.
    Type: Grant
    Filed: April 11, 2016
    Date of Patent: December 29, 2020
    Inventors: Akrem El-Ghazal, Jason Toonstra, William Ben Miners, Otman A. Basir
  • Patent number: 10852442
    Abstract: A positioning position is corrected more efficiently. A reception control device, comprising: a processor, wherein the processor executes: a reception parameter acquisition process of acquiring reception parameters related to reception of positioning signals from a positioning signal receiver that receives the positioning signals from positioning satellites; a first reception environment determination process of determining a reception environment on the basis of a result of determining the acquired reception parameters in accordance with determination conditions; and a reception control process of controlling an error correction signal receiver that receives an error correction signal for correcting an error of a positioning result by the positioning signals from an error correction satellite on the basis of a determination result in the first reception environment determination process.
    Type: Grant
    Filed: December 28, 2016
    Date of Patent: December 1, 2020
    Assignee: CASIO COMPUTER CO., LTD.
    Inventor: Ryuji Shingyoji
  • Patent number: 10830906
    Abstract: A method of adaptive weighting adjustment positioning has the following steps: performing an initialization procedure, determining whether a first feature point is detected; when the first feature point is detected, based on multiple positioning methods, multiple positioning information will be generated, and multiple weightings will be set, and then based on the weightings and the positioning information, calculating the positioning information output; by way of adaptive weighting adjustment among the multiple positioning methods, the multiple positioning methods can be integrated. In this way, even if one of the positioning methods is temporarily unavailable, the positioning information can still be calculated by weighting adjustment between the positioning information of the remaining two available methods, and that allows users to continue to obtain accurate positioning information to confirm the current location.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: November 10, 2020
    Assignee: AUTOMOTIVE RESEARCH & TESTING CENTER
    Inventors: Wun-Sheng Yao, Che-Cheng Chang, Yi Yan
  • Patent number: 10768011
    Abstract: Disclosed herein are a method and system for positioning an autonomous vehicle on a navigation map. The method includes positioning the autonomous vehicle on the navigation map, including receiving the navigation map, an approximate position and an approximate orientation of the autonomous vehicle on the navigation map, and an environmental field of view (FOV) of the autonomous vehicle and determining a first road boundary based on the navigation map and the approximate position of the autonomous vehicle, and a second road boundary based on the environmental FOV and the approximate orientation of the autonomous vehicle, further determining at least one of an angular deviation and a lateral deviation between the first road boundary and the second road boundary, and positioning the autonomous vehicle on the navigation map by minimizing at least one the angular deviation and the lateral deviation.
    Type: Grant
    Filed: October 19, 2017
    Date of Patent: September 8, 2020
    Assignee: Wipro Limited
    Inventors: Balaji Sunil Kumar, Manas Sarkar, Shyam Sundar Pal
  • Patent number: 10757333
    Abstract: A method for determining bias in an inertial measurement unit of an image acquisition device comprises mapping at least one reference point within an image frame into a 3D spherical space based on a lens projection model for the image acquisition device to provide a respective anchor point in 3D space for each reference point.
    Type: Grant
    Filed: October 8, 2018
    Date of Patent: August 25, 2020
    Assignee: FotoNation Limited
    Inventor: Piotr Stec
  • Patent number: 10747330
    Abstract: An electronic device determines an estimate of angular position based on an accelerometric signal supplied by an accelerometric sensor and as a function of at least one of a gyroscopic signal from a gyroscopic sensor and a magnetic signal from a magnetic-field sensor. A processing module implements a complementary filter, which is provided with a first processing block, a second processing block, and a combination block. The first processing block receives the acceleration signal and an input signal indicative of the magnetic signal and generates a geomagnetic quaternion. The second processing block receives a signal indicative of the gyroscopic signal (gyro) and generates a gyroscopic quaternion. The combination block determines the estimate ({circumflex over (q)}) of angular position by complementarily combining the geomagnetic quaternion and the gyroscopic quaternion based on a combination factor that has a dynamic value and an adaptive value and that varies as a function of the operating conditions.
    Type: Grant
    Filed: September 7, 2018
    Date of Patent: August 18, 2020
    Assignee: STMICROELECTRONICS S.r.l.
    Inventors: Antonio Micali, Alberto Zancanato, Federico Rizzardini
  • Patent number: 10698100
    Abstract: A method for determining the position of a vehicle, including: determination of a GNS vehicle position by a GNS unit, sensor acquisition of a surrounding environment of the GNS vehicle position by a radar sensor unit of the vehicle in order to ascertain radar data corresponding to the acquired surrounding environment, detection of objects situated in the surrounding environment based on the radar data, ascertaining of a direction vector that points from a detected object to a reference point fixed to the vehicle, comparison of the radar data and the ascertained direction vector to a digital map that has objects and direction vectors assigned to the objects, the direction vectors assigned to the objects pointing to a position in the digital map from which the corresponding object was acquired by a radar sensor unit, and ascertaining of a corrected vehicle position based on the GNS vehicle position and the comparison.
    Type: Grant
    Filed: May 10, 2016
    Date of Patent: June 30, 2020
    Assignee: Robert Bosch GmbH
    Inventors: Jan Becker, Oliver Pink, Soeren Kammel
  • Patent number: 10690525
    Abstract: System and methods may evaluate and/or improve target aiming accuracy for a sensor of an Unmanned Aerial Vehicle (“UAV”). According to some embodiments, a position and orientation measuring unit may measure a position and orientation associated with the sensor. A pose estimation platform may execute a first order calculation using the measured position and orientation as the actual position and orientation to create a first order model. A geometry evaluation platform may receive planned sensor position and orientation from a targeting goal data store and calculate a standard deviation for a target aiming error utilizing: (i) location and geometry information associated with the industrial asset, (ii) a known relationship between the sensor and a center-of-gravity of the UAV, (iii) the first order model as a transfer function, and (iv) an assumption that the position and orientation of the sensor have Gaussian-distributed noises with zero mean and a pre-determined standard deviation.
    Type: Grant
    Filed: January 3, 2018
    Date of Patent: June 23, 2020
    Assignee: GENERAL ELECTRIC COMPANY
    Inventors: Yang Zhao, Huan Tan, Steven Gray, Ghulam Baloch, Mauricio Castillo-Effen, Judith Guzzo, Shiraj Sen, Douglas Forman
  • Patent number: 10670403
    Abstract: A method is described for determining a position of a two-wheeled vehicle. The single-track vehicle has a vehicle path yaw rate when driving along curves and a yaw rate according to the inclined orientation which differs from the vehicle path yaw rate. An inclined orientation of the single-track vehicle and a speed of the single-track vehicle are measured. The vehicle path yaw rate of the single-track vehicle is determined from the measured inclined orientation and the measured speed. A device for carrying out the method is also described.
    Type: Grant
    Filed: August 21, 2017
    Date of Patent: June 2, 2020
    Assignee: Bayerische Motoren Werke Aktiengesellschaft
    Inventor: Juergen Schulz
  • Patent number: 10657805
    Abstract: A vehicle to vehicle communication device including a satellite vehicle signal reception means for suppressing a decrease in relative position accuracy with a small communication amount during a unit time, a communication means, a kinematic acquisition means, a positioning means, a first vehicle information storage means, a second vehicle information storage means configured to record satellite vehicle information and the velocity vector of the second vehicle in each time, a relative position calculation means configured to calculate a relative position from the velocity vector of the first vehicle, the velocity vector of the second vehicle, and the satellite vehicle information, a requested satellite vehicle number generation means configured to generate a requested satellite vehicle number notifying the second vehicle of a satellite vehicle number observed by the first vehicle, and a transmitting satellite vehicle information generation means configured to generate information to be sequentially transmitted
    Type: Grant
    Filed: October 24, 2017
    Date of Patent: May 19, 2020
    Assignee: Hitachi, Ltd.
    Inventors: Mikio Bandou, Yukihiro Kawamata, Akira Maeki
  • Patent number: 10611613
    Abstract: A method and apparatus for using unique landmarks to position industrial vehicles during start-up. In one embodiment, a method of using pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises identifying a start-up scenario from sensor data, wherein the start-up scenario comprises a unique marker start-up or a pre-positioned object start-up. in response to the identified start-up scenario, either a unique marker or pre-positioned object is identified within a physical environment, wherein the pre-positioned object or unique marker corresponds with a sub-area of the physical environment. The industrial vehicle pose is determined in response to the identity of the pre-positioned object or unique marker and the industrial vehicle is operated based on the determined industrial vehicle pose.
    Type: Grant
    Filed: January 6, 2017
    Date of Patent: April 7, 2020
    Assignee: Crown Equipment Corporation
    Inventors: Lisa Wong, Andrew Evan Graham, Christopher W. Goode, Lucas B. Waltz
  • Patent number: 10575135
    Abstract: Provided is a portable electronic device including a transceiver configured to acquire information from a roadside device, a storage, and a controller configured to acquire position information of the roadside device based on the information acquired by transceiver, and to cause the storage to store the acquired position information as position information of the portable electronic device at a time of acquiring the information.
    Type: Grant
    Filed: November 21, 2018
    Date of Patent: February 25, 2020
    Assignee: KYOCERA Corporation
    Inventors: Shigeki Tanabe, Hideki Morita, Isao Masuike, Shinya Saito, Tetsushi Wakasa