公开(公告)号：US20240419174A1

公开(公告)日：2024-12-19

申请号：US18334115

申请日：2023-06-13

Applicant: TORC Robotics, Inc.

Inventor： Joseph FOX-RABINOVITZ ,  Ryan CHILTON ,  Vicent Rodrigo MARCO

IPC: G05D1/02

Abstract: 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.