Systems and methods for generating source-agnostic trajectories

A non-transitory computer-readable medium comprising program instructions stored thereon that are executable to cause a computing system to:

• obtain (i) a first set of sensor data captured by a first sensor system of a first vehicle, wherein the first set of sensor data indicates the first vehicle's movement and location with a first degree of accuracy and (ii) a second set of sensor data captured by a second sensor system of a second vehicle, wherein the second set of sensor data indicates the second vehicle's movement and location with a second degree of accuracy that differs from the first degree of accuracy;
• based on the respective first and second sets of sensor data, generate, by the computing system, respective motion data for each of the respective first and second vehicles during a respective period of operation of the respective vehicle that is separated from Earth's rotational motion by, for each respective vehicle:
• for each of a plurality of respective times during the respective period of operation:
• determine the Earth's directional gravity vector at a respective time;
• remove an effect of the Earth's directional gravity on an acceleration measurement captured by the respective sensor system;
• and
• determine an acceleration and orientation of the respective sensor system of the respective vehicle at the respective time that are independent of the Earth's directional gravity vector and the Earth's magnetic field;
• based on the respective motion data generated for the first vehicle, derive a first trajectory for the first vehicle that is defined in Willis of a source-agnostic coordinate frame rather than a source-specific coordinate frame associated with the first sensor system;
• based on the respective motion data generated for the second vehicle, derive a second trajectory for the second vehicle that is defined in terms of the source-agnostic coordinate frame rather than a source-specific coordinate frame associated with the second sensor system;
• and
• store the first trajectory for the first vehicle and the second trajectory for the second vehicle in a database of source-agnostic trajectories.

A computing system comprising:

• at least one processor;
• a non-transitory computer-readable medium;
• and
• program instructions stored on the non-transitory computer-readable medium that are executable by the at least one processor such that the computing system is capable of:
• obtaining (i) a first set of sensor data captured by a first sensor system of a first vehicle, wherein the first set of sensor data indicates the first vehicle's movement and location with a first degree of accuracy and (ii) a second set of sensor data captured by a second sensor system of a second vehicle, wherein the second set of sensor data indicates the second vehicle's movement and location with a second degree of accuracy that differs from the first degree of accuracy;
• based on the respective first and second sets of sensor data, generate, by the computing system, respective motion data for each of the respective first and second vehicles during a respective period of operation of the respective vehicle that is separated from Earth's rotational motion by, for each respective vehicle:
• for each of a plurality of respective times during the respective period of operation:
• determine the Earth's directional gravity vector at a respective time;
• remove an effect of the Earth's directional gravity on an acceleration measurement captured by the respective sensor system;
• and
• determine an acceleration and orientation of the respective sensor system of the respective vehicle at the respective time that are independent of the Earth's directional gravity vector and the Earth's magnetic field;
• based on the respective motion data generated for the first vehicle, derive a first trajectory for the first vehicle that is defined in terms of a source-agnostic coordinate frame rather than a source-specific coordinate frame associated with the first sensor system;
• based on the respective motion data generated for the second vehicle, deriving a second trajectory for the second vehicle that is defined in terms of the source-agnostic coordinate frame rather than a source-specific coordinate frame associated with the second sensor system;
• and
• storing the first trajectory for the first vehicle and the second trajectory for the second vehicle in a database of source-agnostic trajectories.