CPC G05D 1/0011 (2013.01) [G05D 1/024 (2013.01); G05D 1/0246 (2013.01); G05D 2201/0216 (2013.01)] | 20 Claims |
1. An unmanned vehicle comprising:
a chassis;
a processor for controlling a propulsion system of the unmanned vehicle and receiving sensor data from one or more sensors of the unmanned vehicle, the processor is configured to:
prior to entering an autonomous calibration mode, enumerate unmanned vehicle capabilities, by one or more of: receiving a weight of the unmanned vehicle; receiving one or more dimensions of the unmanned vehicle; autodetecting each of the one or more sensors; receiving a list of the one or more sensors; and using a scanner to scan one or more graphical identifiers of the one or more sensors;
operate the propulsion system in the autonomous calibration mode by:
automatically controlling the propulsion system to move the chassis;
collecting the sensor data from the one or more sensors;
selecting one or more uncertainty propagation models from a plurality of uncertainty propagation models based on at least one of i.) one or more unmanned vehicle capabilities and ii.) the sensor data; and
processing the sensor data using the one or more uncertainty propagation 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;
determine that the degree of certainty is above a threshold value; and
subsequently switch operation of the propulsion system to an operational mode based on the determination that the degree of certainty is above the threshold value.
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