# US 2021/0278864 A1 · Methods and systems for estimating the orientation of an object

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 2021/0278864 A1
- Document ID: US20210278864A1
- Status: Published application
- Kind: A1
- Application number: 17/258,134
- Filed: 2019-07-08
- Published: 2021-09-09
- Earliest claimed: 2018-07-06
- Assignees: Verity Studios AG
- Applicants: Verity Studios AG
- Inventors: Luciano Beffa; Markus Hehn
- Web page: https://patentgrep.com/patent/US20210278864A1

## CPC

- G01C 21/12: executed aboard the object being navigated; Dead reckoning
- G05D 1/106: {Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones}
- G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)}
- G01C 21/165: {combined with non-inertial navigation instruments}
- G01C 21/18: Stabilised platforms, e.g. by gyroscope
- G01C 22/00: Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 30/20: Rotors; Rotor supports
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

The system receives position information in both an internal coordinate frame and an external coordinate frame. The system uses a comparison of position information in these frames to determine orientation information. The system determines one or more orientation hypotheses, and analyzes the position information based on these hypotheses. The system may include on-board accelerometers, gyroscopes, or both that provide the measurements in the internal coordinate frame. These measurements may be integrated or otherwise processed to determine position, velocity, or both. Measurements in the external frame are provided by GPS sensors or other positioning systems. Position information is transformed to a common coordinate frame, and an error metric is determined. Based on the error metric, the system estimates a likelihood metric for each hypothesis, and determines a. resulting hypothesis based on the maximum likelihood or a combination of likelihoods.

## Claims

### Claim 1

A system comprising:
a first sensor configured to sense a first position information of an object in an internal coordinate frame;
control circuitry coupled to the first sensor, and configured to:
receive the first position information from the first sensor, wherein the first position information is expressed in the internal coordinate frame;
receive a second position information from a second sensor, wherein the second sensor is configured to sense the second position information of the object in an external coordinate frame;
for each orientation hypothesis of a plurality of orientation hypotheses:
determine based on the respective orientation hypothesis the first position information and the second position information in a common coordinate frame;
compare the respective first position inform anon in the common coordinate frame and the second position information in the common coordinate frame, and
determine a hypothesis likelihood for the respective orientation hypothesis to generate a plurality of hypothesis likelihoods for the plurality of orientation hypotheses.

### Claim 2 (depends on 1)

The system of claim 1, wherein a resultant orientation hypothesis is determined based on the plurality of hypothesis likelihoods.

### Claim 3 (depends on 2)

The system of claim 2, wherein the control circuitry is further configured to determine the resultant orientation hypothesis by selecting a maximum likelihood among the plurality of measurement likelihoods.

### Claim 4 (depends on 2)

The system of claim 2, wherein the control circuitry is further configured to determine the resultant orientation hypothesis by determining a weighted average of the plurality of orientation hypotheses, wherein the weighted average is based on a plurality of weightings, and wherein the plurality of weightings are based on the plurality of hypothesis likelihoods.

### Claim 5 (depends on 2)

The system of claim 2, wherein an output orientation information is based on the resultant orientation hypothesis.

### Claim 6 (depends on 5)

The system of claim 5, wherein the control circuitry is further configured to determine a control signal to be applied to an actuator to affect control on the motion of the object based on the output orientation information.

### Claim 7 (depends on 5)

The system of claim 5, wherein the control circuitry is further configured to receive information representative of at least part of the orientation of the object, and to compare said information with the output orientation information.

### Claim 8 (depends on 5)

The system of claim 5, wherein the control circuitry is further configured to receive information representative of at least part of the orientation of the object, and to compare said information with the resultant orientation.

### Claim 9 (depends on 1)

The system of claim 1, wherein the first sensor comprises at least one of the group comprising at least one accelerometer and at least one gyroscope.

### Claim 10 (depends on 1)

The system of claim 1, wherein the second sensor comprises at least one of the group comprising a localization system and a motion capturing system.

### Claim 11 (depends on 1)

The system of claim 1, wherein the first position information comprises an acceleration of the object.

### Claim 12 (depends on 1)

The system of claim 1, wherein the first position information comprises a position of the object.

### Claim 13 (depends on 1)

The system of claim 1, wherein the first position information comprises an angular velocity of the object.

### Claim 14 (depends on 1)

The system of claim 1, further comprising an Inertial Measurement Unit (IMU) comprising the first sensor, wherein the first sensor comprises at least an accelerometer and a gyroscope, and wherein the second sensor comprises a positioning system.

### Claim 15 (depends on 1)

The system of claim 1, wherein the first sensor comprises a system configured for simultaneous localization and mapping (SLAM).

### Claim 16 (depends on 1)

The system of claim 1, further comprising an odometry system comprising the first sensor, wherein the second sensor comprises a positioning, system.

### Claim 17 (depends on 16)

The system of claim 16, wherein the odometry system comprises a visual odometry system.

### Claim 18

A method comprising:
receiving a first position information from a first sensor, wherein the first position information is expressed in an internal coordinate frame;
receiving a second position information from a second sensor, wherein the second position information is expressed in an external coordinate frame;
for each orientation hypothesis of a plurality of orientation hypotheses:
determining based on the respective orientation hypothesis the first position information and the second position information in a common coordinate frame;
comparing the respective first position information in the common coordinate frame and the second position information in the common coordinate frame, and
determining a hypothesis likelihood for the respective orientation hypothesis to generate a plurality of hypothesis likelihoods for the plurality of orientation hypotheses.

### Claim 19 (depends on 18)

The method of claim 18, wherein a resultant orientation hypothesis is determined based on the plurality of hypothesis likelihoods.

### Claim 20 (depends on 19)

The method of claim 19, further comprising determining the resultant orientation hypothesis by selecting a maximum likelihood among the plurality of hypothesis likelihoods.

### Claim 21 (depends on 19)

The method of claim 19, further comprising determining the resultant orientation hypothesis by determining a weighted average of the plurality of orientation hypotheses, wherein the weighted average is based on a plurality of weightings, and wherein the plurality of weightings are based on the plurality of hypothesis likelihoods.

### Claim 22 (depends on 19)

The method of claim 19, wherein an output orientation information is based on the resultant orientation hypothesis.

### Claim 23 (depends on 22)

The method of claim 22, farther comprising determining a control signal to be applied to an actuator to affect control on the motion of the object based on the output orientation information.

### Claim 24 (depends on 18)

The method of claim 18, wherein the first position information comprises a position of the object.

### Claim 25 (depends on 18)

The method of claim 18, wherein the first position information comprises an angular velocity of the object.

### Claim 26 (depends on 18)

The method of claim 18, wherein the first position information comprises an acceleration of the object.

### Claim 27

A mobile robot comprising:
a first sensor configured to sense a first position information of an object in an internal coordinate frame;
an actuator that can affect motion of the robot: and
control circuitry coupled to the first sensor and the actuator, and configured to:
receive the first position information from the first sensor, wherein the first position information is expressed in the internal coordinate frame;
receive a second position information from a second sensor, wherein the second sensor is configured to sense the second position. information of the object in an external coordinate frame;
for each orientation. hypothesis of a plurality of orientation hypotheses;
determine based on the respective orientation hypothesis the first position information and the second position information in a common coordinate frame;
compare the respective first position information in the common coordinate frame and the second position information in the common coordinate frame; and
determine a hypothesis likelihood for the respective orientation hypothesis to generate a plurality of hypothesis likelihoods for the plurality of orientation hypotheses wherein the control circuitry is further configured to apply a control signal to the actuator to affect the motion of the robot based on the output orientation information.

### Claim 28 (depends on 27)

The mobile robot of claim 27, wherein a resultant orientation hypothesis is determined based on the plurality of hypothesis likelihoods.

### Claim 29 (depends on 28)

The mobile robot of claim 28, wherein an output orientation information is based on the resultant orientation hypothesis.