US 12,031,826 B2
Methods and systems for path-based mapping and routing
Gautam Singh, Woodbury, MN (US); John M. Kruse, Minneapolis, MN (US); Ronald D. Jesme, Plymouth, MN (US); William J. Kelliher, Jr., Lino Lakes, MN (US); Jacob E. Odom, Savage, MN (US); Adam C. Nyland, St. Paul, MN (US); Nicholas T. Gabriel, Grand Rapids, MN (US); Jason L. Aveldson, Prior Lake, MN (US); Haleh Hagh-Shenas, Plymouth, MN (US); Frank T. Herfort, Korschenbroich (DE); Michael L. Gjere, South St. Paul, MN (US); Rachneet Kaur, Champaign, IL (US); Elias Wilken-Resman, Minneapolis, MN (US); Jae Yong Lee, Santa Clara, MN (US); Doug A. Addleman, Minneapolis, MN (US); Glenn E. Casner, Woodbury, MN (US); James D. Carlson, Minneapolis, MN (US); Justin Tungjunyatham, Roseville, MN (US); Karl Battle, Woodbury, MN (US); and Steven G. Lucht, Woodbury, MN (US)
Assigned to 3M Innovative Properties Company, St. Paul, MN (US)
Appl. No. 17/596,012
Filed by 3M INNOVATIVE PROPERTIES COMPANY, St. Paul, MN (US)
PCT Filed May 28, 2020, PCT No. PCT/IB2020/055092
§ 371(c)(1), (2) Date Dec. 1, 2021,
PCT Pub. No. WO2020/245710, PCT Pub. Date Dec. 10, 2020.
Claims priority of provisional application 62/857,045, filed on Jun. 4, 2019.
Prior Publication US 2022/0228868 A1, Jul. 21, 2022
Int. Cl. G01C 21/16 (2006.01); G01C 21/20 (2006.01); G01S 13/42 (2006.01); G01S 13/86 (2006.01); G01S 13/89 (2006.01)
CPC G01C 21/1652 (2020.08) [G01C 21/206 (2013.01); G01S 13/426 (2013.01); G01S 13/867 (2013.01); G01S 13/89 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of mapping and routing, comprising:
mounting a sensor assembly on a wearable pack to be worn by a mobile object, the sensor assembly comprising an inertial measurement unit (IMU) and one or more radio-frequency (RF) radar units;
collecting, via the sensor assembly, sensing data comprising (i) one or more radar velocities from the one or more RF radar units, (ii) one or more angular velocities of the mobile object from the IMU, and (iii) one or more linear accelerations from the IMU;
determining, via a processor, translation information and absolute orientation information of the mobile object based on the sensing data;
determining, via the processor, a time series of poses of the mobile object based on a combination of the determined translation information and the determined absolute orientation information; and
combining, via the processor, the time series of poses into a path of the mobile object.