Method and device for pose data relating to pose of a vehicle
AssigneeBayerische Motoren Werke Aktiengesellschaft
InventorsMartin Liebner, David Pannen
Life of this patent
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Abstract
A device for determining positional information relating to the position of a vehicle is configured to determine a measured value of an acceleration vector of the vehicle, and to determine a value of a dynamic component of the measured value of the acceleration vector caused by a movement of the vehicle. The device is further configured to determine an estimated value of the gravity vector based on the measured value of the acceleration vector and based on the value of the dynamic component, and to determine positional data relating to the position of the vehicle based on the estimated value of the gravity vector.
Claims14
A device for determining pose data relating to a pose of a vehicle, wherein the device is configured:
- to determine a measured value of an acceleration vector of the vehicle;
- to determine a value of a dynamic component of the measured value of the acceleration vector that is brought about by a movement of the vehicle;
- to take the measured value of the acceleration vector and the value of the dynamic component as a basis for determining an estimate of a gravity vector;
- and
- to determine the pose data relating to the pose of the vehicle based on the estimate of the gravity vector.
A method for determining pose data relating to a pose of a vehicle, the method comprising:
- determining at least one measured value of an acceleration vector of the vehicle;
- determining a value of a dynamic component of the measured value of the acceleration vector that is brought about by a movement of the vehicle;
- determining, based on the measured value of the acceleration vector and based on the value of the dynamic component, an estimate of a gravity vector;
- and
- determining the pose data relating to the pose of the vehicle based on the estimate of the gravity vector.
Dependencies are inferred from the claim text.