Systems and methods for vehicle positioning
Various vehicle technologies for improving positioning accuracy despite various factors that affect signals from navigation satellites. Such positioning accuracy is increased via determining an offset and communicating the offset in various ways or via sharing of raw positioning data between a plurality of devices, where at least one knows its location sufficiently accurately, for use in differential algorithms.
1 . A method of using a set of vehicles to determine a position and pose of the vehicles in the set, comprising:
determining a first raw positioning data of a first moving vehicular client from a set of moving vehicular clients based on signals from satellites;
determining a first pose data of the first moving vehicular client using sensor-based localization;
sending the first raw positioning data and the first pose data from the first moving vehicular client to a second moving vehicular client such that the second moving vehicular client determines a first position vector relative to the first moving vehicular client based on the first raw positioning data, the first pose data, the second moving vehicular client having a position being in spatial proximity to the first moving vehicular client and temporal proximity to the first moving vehicular client;
in response to the second moving vehicular client determining a second position vector relative to a third moving vehicular client based on the first pose data and the first raw positioning data, updating, using the second position vector received from the second moving vehicular client, the first pose data according to the first position vector and the second position vector; and
in response to updating the first pose data, broadcasting the first pose data to the set of moving vehicular clients to cause one or more of the set of the moving vehicular clients to determine pose data based on the first pose data.
2 . The method of claim 1 , wherein the first pose data comprises a position and orientation of the first moving vehicular client and is determined by capturing images from an image sensor on the first moving vehicular client.
3 . The method of claim 2 , wherein the captured images are compared to a set of stored images to obtain a set of geographical coordinates indicative of the pose of the first moving vehicular client.
4 . The method of claim 3 , further comprising validating a presence of the set of geographical coordinates on a map.
5 . The method of claim 4 , wherein the first pose data includes a set of map coordinates locating the first moving vehicular client on the map.
6 . The method of claim 1 , further comprising determining a raw positioning measurement value based on the first raw positioning data.
7 . The method of claim 1 , wherein determining the first position vector comprises performing a real time kinematic technique to determine the first position vector.
8 . A system for using a set of vehicles to determine a position and pose of the vehicles in the set, the system comprising:
a hardware server configured to:
receive a first raw positioning data and first pose data from a first moving vehicular client;
send the first raw positioning data and the first pose data from the first moving vehicular client to a second moving vehicular client such that the second moving vehicular client determines a first position vector relative to the first moving vehicular client based on the first raw positioning data, the first pose data, the second moving vehicular client having a position being in spatial proximity to the first moving vehicular client and temporal proximity to the first moving vehicular client,
wherein the first raw positioning data is obtained based on signals from satellites;
in response to the second moving vehicular client determining a second position vector relative to a third vehicular client based on the first pose data and the first raw positioning data, update, using the second position vector received from the second moving vehicular client, the first pose data according to the first position vector and the second position vector; and
broadcast the updated first pose data to each of a plurality of moving vehicular clients to determine pose data based on the updated first pose data, the plurality of moving vehicular clients including the second moving vehicular client and the third moving vehicular client.
9 . The system of claim 8 , wherein the first pose data comprises a position and orientation of the first moving vehicular client and is determined by capturing images from an image sensor on the first moving vehicular client.
10 . The system of claim 9 , further comprising a first vehicular client processor configured to compare the captured images to a set of stored images to obtain a set of geographical coordinates indicative of the pose of the first moving vehicular client.
11 . The system of claim 10 , wherein the first vehicular client processor is further configured to validate a presence of the set of geographical coordinates on a map.
12 . The system of claim 11 , wherein the first pose data includes a set of map coordinates locating the first moving vehicular client on the map.
13 . The system of claim 8 , further comprising a first vehicular client processor configured to determine a raw positioning measurement value based on the first raw positioning data.
14 . The system of claim 8 , further comprising a first vehicular client processor configured to determine the first position vector by performing a real time kinematic technique to determine the first position vector.
15 . A non-transitory computer readable medium for using a set of vehicles to determine a position and pose of the vehicles in the set, the non-transitory computer readable medium including instructions executable by a hardware server and a first vehicular client processor, wherein the instructions cause the hardware server to:
receive a first raw positioning data and first pose data from a first moving vehicular client;
send the first raw positioning data and the first pose data from the first moving vehicular client to a second moving vehicular client such that the second moving vehicular client determines a first position vector relative to the first moving vehicular client based on the first raw positioning data, the first pose data, the second moving vehicular client having a position being in spatial proximity to the first moving vehicular client and temporal proximity to the first moving vehicular client,
wherein the first raw positioning data is obtained based on signals from satellites;
in response to the second moving vehicular client determining a second position vector relative to a third vehicular client based on the first pose data and the first raw positioning data, update, using the second position vector received from the second moving vehicular client, the first pose data according to the first position vector and the second position vector; and
broadcast the updated first pose data to each of a plurality of moving vehicular clients to determine pose data based on the updated first pose data, the plurality of moving vehicular clients including the second moving vehicular client and the third moving vehicular client.
16 . The non-transitory computer readable medium of claim 15 , wherein the first pose data comprises a position and orientation of the first moving vehicular client and is determined by capturing images from an image sensor on the first moving vehicular client.
17 . The non-transitory computer readable medium of claim 16 , wherein the instructions cause the first vehicular client processor to compare the captured images to a set of stored images to obtain a set of geographical coordinates indicative of the pose of the first moving vehicular client.
18 . The non-transitory computer readable medium of claim 17 , wherein the instructions cause the first vehicular client processor to validate a presence of the set of geographical coordinates on a map.
19 . The non-transitory computer readable medium of claim 18 , wherein the first pose data includes a set of map coordinates locating the first moving vehicular client on the map.
20 . The non-transitory computer readable medium of claim 15 , wherein the instructions cause the first vehicular client processor to determine a raw positioning measurement value based on the first raw positioning data.
21 . The non-transitory computer readable medium of claim 15 , wherein the instructions cause the first vehicular client processor to determine the first position vector by performing a real time kinematic technique to determine the first position vector.