PREPARING DATA FOR HIGH-PRECISION ABSOLUTE LOCALIZATION OF A MOVING OBJECT ALONG A TRAJECTORY
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United States of America
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Mar 13, 2025
app pub date -
Sep 12, 2023
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Sep 12, 2023
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Techniques for preparing data for high-precision absolute localization of a moving object along a trajectory are provided. In one technique, a sliding window of a set of adjacent points along a trajectory of a moving object is identified, along with a midpoint in the sliding window. Based on the set of adjacent points, a first polynomial equation is generated for a first dimension and a second polynomial equation is generated for a second dimension. A first derivative at a particular timestamp associated with the midpoint is a first velocity along the first dimension, while a particular first derivative at the particular timestamp is a second velocity along the second dimension. A velocity in direction of yaw is generated based on the first velocity, the second velocity, and a slip angle associated with the midpoint. A yaw angle is generated based on the velocity in direction of yaw.
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