Position measurement correction using loop-closure and movement data
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United States of America Patent
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Aug 23, 2016
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N/A
app pub date -
Aug 23, 2012
filing date -
Dec 17, 2009
priority date (Note) -
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Abstract
A method includes initializing an inertial measurement unit (IMU) at a starting location and gathering acceleration and rotational data as the IMU is moved to an intermediate location. An indication that the IMU is at the intermediate location is received. The method includes gathering acceleration and rotational data as the IMU is moved to an ending location and calculating a position of the ending location based on a known position of the starting location and the acceleration data. The method includes calculating corrected acceleration data based on a difference between the calculated position of the ending location and a known position of the ending location, and calculating a position of the intermediate location based on the corrected acceleration data are provided.
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