US 11,853,082 B1
Control of vehicle movement by application of geometric algebra and state and error estimation
Ian J. McEwan, Pasadena, CA (US); Thomas D. Williams, Shutesbury, MA (US); Jeffery J. Alholm, Kansas City, MO (US); John C. Blessing, Kansas City, KS (US); Jacob B. Davisson, Lawrence, KS (US); Frank C. Glazer, Amherst, MA (US); Jay D. Manifold, Kansas City, MO (US); and Laurence R. Williams, Sunderland, MA (US)
Assigned to Digital Aerolus, Inc., Lenexa, KS (US)
Filed by Digital Aerolus, Inc., Lenexa, KS (US)
Filed on Feb. 22, 2022, as Appl. No. 17/677,391.
Application 17/677,391 is a continuation of application No. 17/550,697, filed on Dec. 14, 2021, abandoned.
Application 17/550,697 is a continuation of application No. 17/168,289, filed on Feb. 5, 2021.
Application 17/168,289 is a continuation of application No. 16/219,609, filed on Dec. 13, 2018, granted, now 10,915,117, issued on Feb. 9, 2021.
Claims priority of provisional application 62/598,235, filed on Dec. 13, 2017.
Int. Cl. G05D 1/10 (2006.01); G05D 1/08 (2006.01); B64C 39/02 (2023.01); G01C 21/08 (2006.01); G01C 21/18 (2006.01)
CPC G05D 1/101 (2013.01) [B64C 39/024 (2013.01); G01C 21/18 (2013.01); G05D 1/0825 (2013.01); G05D 1/0858 (2013.01); B64U 2201/104 (2023.01)] 25 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle having a chassis, a plurality of sensors, a propulsion system, and a processor, the method comprising:
receiving sensor-based vehicle state data from the plurality of sensors, the sensor-based vehicle state data having embedded information;
determining dynamic parameters of the vehicle according to the sensor-based vehicle state data;
combining the sensor-based vehicle state data in a non-optimized form into a unified spatial model representation of the vehicle and its surrounding environment by mapping the dynamic parameters into a single geometric algebraic space via geometric multivectors;
optimizing select portions of the sensor-based vehicle state data by evaluating embedded information of the select portions of the sensor-based vehicle state data as the embedded information of the select portions of the sensor-based vehicle state data is required;
calculating a movement control decision based on the unified spatial model;
generating a movement control instruction signal based on the movement control decision; and
controlling movement of the vehicle by sending the movement control instruction signal to the propulsion system such that the propulsion system effects the movement control decision.