Systems, methods, and devices for verification of position estimation using an orientation sensor

A system comprising:

• a receiver configured to receive signals from a plurality of measurement points on an object;
• and
• a control unit configured to:
• estimate locations of the plurality of measurement points on the object based on the signals received by the receiver from the plurality of measurement points on the object;
• determine an estimate of a location of the object based on the estimated locations of the plurality of measurement points on the object;
• determine a first measurement of an orientation of the object based on the estimated locations of the plurality of measurement points on the object;
• determine a second measurement of the orientation of the object based on measurements by an orientation sensor on the object;
• estimate an error of the estimate of the location of the object based on a difference between the first measurement of the orientation of the object and the second measurement of the orientation of the object;
• and
• adjust a movement of the system based on the error of the estimate of the location of the object.

A device comprising:

• at least three measurement points arranged on a surface of the device in two dimensions to define a plane;
• an orientation sensor;
• and a processor configured to:
• transmit a plurality of signals via the at least three measurement points to an object;
• receive measurements from the orientation sensor;
• and transmit the measurements to the object, wherein the object is configured to:
• estimate locations of the at least three measurement points on the surface of the device based on the signals;
• determine an estimate of a location of the device based on the estimated locations;
• determine a first measurement of an orientation of the device based on the estimated locations;
• determine a second measurement of the orientation of the device based on the measurements;
• estimate an error of the estimate of the location of the device based on a difference between the first measurement and the second measurement;
• and adjust a movement based on the error of the estimate of the location of the device.