US 11,947,022 B2
Cooperative state tracking of multiple vehicles using individual and joint estimations
Karl Berntorp, Newton, MA (US); Marcus Greiff, Lund (SE); Stefano Di Cairano, Newton, MA (US); and Kyeong Jin Kim, Lexington, MA (US)
Assigned to Mitsubishi Electric Research Laboratories, Inc, Cambridge, MA (US)
Filed by Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed on Mar. 30, 2021, as Appl. No. 17/216,832.
Prior Publication US 2022/0326393 A1, Oct. 13, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G01S 19/37 (2010.01); G01S 19/24 (2010.01)
CPC G01S 19/37 (2013.01) [G01S 19/24 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A server for jointly tracking states of multiple vehicles, wherein a state of each vehicle includes one or multiple state biases capturing residual errors in atmospheric delays, the server comprising: at least one processor; and the memory having instructions stored thereon that, when executed by the at least one processor, causes the server to:
receive multiple transmissions from the multiple vehicles, each transmission from a vehicle includes the measurements of satellite signals received at the vehicle and parameters of a probabilistic distribution of the state of the vehicle;
fuse the states of the multiple vehicles defined by the parameters of the corresponding probabilistic distributions into an augmented state of the multiple vehicles;
fuse the measurements of satellite signals of the multiple vehicles into an augmented measurement of the augmented state subject to augmented measurement noise defined by a non-diagonal covariance matrix with non-zero off-diagonal elements, each non-zero off-diagonal elements relating errors in the measurements of a pair of corresponding vehicles;
execute a probabilistic filter updating the augmented state based on the augmented measurement subject to the augmented measurement noise; and
fuse the parameters of the probabilistic distribution of the state of at least some of the multiple vehicles with a corresponding portion of the updated augmented state to output the fused parameters of the probabilistic distribution of the state of at least some of the multiple vehicles.