Autonomous Location Of Objects In A Mobile Reference Frame

An apparatus for estimating a location of an object within a mobile reference frame comprising:

• an accelerometer configured to provide acceleration data associated with said object;
• a maneuver detection module configured to determine from said acceleration data that said mobile reference frame is executing one of said pre-determined maneuvers;
• and
• a location estimation module configured to:
• (a) apply said acceleration data to a mathematical model associated with said executed maneuver, said model trained with previously obtained data from one or more reference accelerometers positioned at known locations within said mobile reference frame and estimating said location of said object by applying said sensor data to said mathematical model;
• and/or
• (b) compare said acceleration data to data received from reference accelerometers in said mobile reference frame and estimating said location of said object.

An article comprising a non-transitory storage medium having stored thereon instructions that when executed by a machine result in the following operations:

• receiving sensor data from an accelerometer associated with said object;
• determining from said sensor data that said mobile reference frame is executing one of a set of pre-determined maneuvers;
• in response to said determining that said mobile reference frame is executing one set of predetermined maneuvers, carrying out the following:
• (a) applying said sensor data to a mathematical model associated with said executed maneuver, said model trained with previously obtained data from one or more reference accelerometers positioned at known locations within said mobile reference frame and estimating said location of said object by applying said sensor data to said mathematical model;
• and/or
• (b) comparing said acceleration data to data received from reference accelerometers in said mobile reference frame and estimating said location of said object.