State vector estimation using a constraint derived from a map
View Patent ↗It is disclosed to estimate a state vector of an object, wherein the state vector comprises a state variable related to a position or an orientation of the object, based on at least one of a probability density function of the state vector truncated under consideration of a constraint for the state variable, wherein the constraint is derived from a map, and properties of the truncated probability density function.
1. An apparatus comprising:
at least one processor; and
at least one memory including computer program code;
the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to:
estimate a state vector of an object, wherein the state vector comprises a state variable related to a position or an orientation of the object, based on at least one of
a probability density function of the state vector truncated under consideration of a constraint for the state variable derived from a map, and
properties of the truncated probability density function,
wherein in the estimation at least two state vector estimates of the object are calculated for one point in time and the first state vector estimate is characterized by a first probability density function, while the second state vector estimate is characterized by a second probability density function, and wherein a first weight is assigned to the first probability density function and a second weight is assigned to the second probability density function.
2. The apparatus according to claim 1 , wherein the apparatus is further caused to perform at least one of deriving the constraint, receiving the constraint, truncating a probability density function to obtain a probability density function truncated under consideration of the constraint and deriving properties of a truncated probability density function of the state vector from properties of the probability density function that can be truncated to obtain the truncated probability density function.
3. The apparatus according to claim 1 , further comprising an antenna.
4. The apparatus according to claim 1 , wherein the apparatus is a navigation device.
5. The apparatus according to claim 1 , wherein the constraint matches at least two disconnected spaces and a probability density function is assigned to each of the disconnected spaces.
6. The apparatus according to claim 1 , wherein a weight corresponds to the probability mass of an unsealed truncated probability density function the probability density function truncated under consideration of the constraint is derived from or is identical to.
7. The apparatus according to claim 1 , wherein in the estimation of the state vector a weight is updated in an estimation iteration that follows an estimation iteration in which the weight has been initially assigned to a probability density function.
8. The apparatus according to claim 1 , wherein the constraint is one of a linear constraint and a linear constraint derived from a nonlinear constraint.
9. The apparatus according to claim 1 , wherein the first state vector estimate is described by means of a first probability density function of a preset class of probability density functions and wherein the second state vector estimate is described by means of a second probability density function of the preset class of probability density functions.
10. The apparatus according to claim 1 , wherein the first probability density function of the preset class of probability density functions is derived from a truncated probability density function or properties thereof and wherein the second probability density function of the preset class of probability density functions is derived from a truncated probability density function or properties thereof.
11. The apparatus according to claim 1 , wherein the estimation of the state vector is performed one of recursively and recursively involving Kalman filtering.
12. The apparatus according to claim 11 , wherein an estimate of the state vector that has been obtained in the estimation of the state vector under consideration of a constraint serves as a basis for a subsequent state vector estimation.
13. A method comprising:
estimation of a state vector of an object, wherein the state vector comprises a state variable related to a position or an orientation of the object, based on at least one of
a probability density function of the state vector truncated under consideration of a constraint for the state variable derived from a map, and
properties of the truncated probability density function,
wherein in the estimation at least two state vector estimates of the object are calculated for one point in time and the first state vector estimate is characterized by a first probability density function, while the second state vector estimate is characterized by a second probability density function, and wherein a first weight is assigned to the first probability density function and a second weight is assigned to the second probability density function.
14. The method of claim 13 , further comprising at least one of deriving the constraint, receiving the constraint, truncating a probability density function to obtain a probability density function truncated under consideration of the constraint, and deriving properties of a truncated probability density function of the state vector from properties of the probability density function that can be truncated to obtain the truncated probability density function.
15. The method according to claim 13 , wherein the estimation of the state vector is performed one of recursively and recursively involving Kalman filtering.
16. The method according to any claim 13 , wherein the constraint matches at least two disconnected spaces and a probability density function is assigned to each of the disconnected spaces.
17. The method according to claim 13 , wherein a weight corresponds to the probability mass of an unscaled truncated probability density function the probability density function truncated under consideration of the constraint is derived from or is identical to.
18. The method according to claim 13 , wherein different state models are assigned to the estimation of the first state vector estimate and to the estimation of the second state vector estimate.
19. The method according to claim 13 , wherein the constraint is one of a linear constraint and a linear constraint derived from a nonlinear constraint.
20. A non-transitory computer readable medium having computer program code stored thereon, which when executed by a computer processor causes an apparatus to perform:
estimation of a state vector of an object, wherein the state vector comprises a state variable related to a position or an orientation of the object, based on at least one of
a probability density function of the state vector truncated under consideration of a constraint for the state variable derived from a map, and
properties of the truncated probability density function,
wherein in the estimation at least two state vector estimates of the object are calculated for one point in time and the first state vector estimate is characterized by a first probability density function, while the second state vector estimate is characterized by a second probability density function, and wherein a first weight is assigned to the first probability density function and a second weight is assigned to the second probability density function.