Self-calibrating sensors and actuators for unmanned vehicles

A method comprising:

• operating, using a processor of an unmanned vehicle, a propulsion system of the unmanned vehicle in a guided calibration mode, the unmanned vehicle comprising:
• a chassis;
• the propulsion system configured to move the chassis;
• one or more sensors configured to sense features around the chassis;
• a memory;
• a communication interface, and the processor, the operating the propulsion system in the guided calibration mode comprising:
• receiving, using the communication interface, one or more commands from an external guided control system;
• moving, using the propulsion system, the chassis according to the commands;
• collecting sensor data from the one or more sensors while implementing the commands;
• and, processing the sensor data using one or more uncertainty models to determine at least one degree of certainty on a calibration of one or more of the sensor data and a position of the chassis;
• automatically switching, using the processor, operation of the propulsion system to an autonomous calibration mode when the degree of certainty is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode;
• thereafter, operating, using the processor, the propulsion system in the autonomous calibration mode by:
• automatically moving, using the propulsion system, the chassis;
• collecting the sensor data from the one or more sensors while automatically moving the chassis using the propulsion system;
• and, further processing the sensor data using one or more uncertainty propagation models to determine at least one further degree of certainty on the calibration;
• and,
• automatically switching, using the processor, operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.

A computer program product, comprising a non-transitory computer usable medium having a computer readable program code adapted to be executed to implement a method comprising:

• operating, using a processor of an unmanned vehicle, a propulsion system of the unmanned vehicle in a guided calibration mode, the unmanned vehicle comprising:
• a chassis;
• the propulsion system configured to move the chassis;
• one or more sensors configured to sense features around the chassis;
• a memory;
• a communication interface, and the processor, the operating the propulsion system in the guided calibration mode comprising:
• receiving, using the communication interface, one or more commands from an external guided control system;
• moving, using the propulsion system, the chassis according to the commands;
• collecting sensor data from the one or more sensors while implementing the commands;
• and, processing the sensor data using one or more uncertainty models to determine at least one degree of certainty on a calibration of one or more of the sensor data and a position of the chassis;
• automatically switching, using the processor, operation of the propulsion system to an autonomous calibration mode when the degree of certainty is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode;
• thereafter, operating, using the processor, the propulsion system in the autonomous calibration mode by:
• automatically moving, using the propulsion system, the chassis;
• collecting the sensor data from the one or more sensors while automatically moving the chassis using the propulsion system;
• and, further processing the sensor data using one or more uncertainty propagation models to determine at least one further degree of certainty on the calibration;
• and,
• automatically switching, using the processor, operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.