| CPC G01S 13/88 (2013.01) [B60W 60/001 (2020.02); G01S 13/867 (2013.01); B60W 2420/408 (2024.01); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02)] | 20 Claims |
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1. A method comprising:
receiving, by a plurality of radar sensors provided aboard an autonomous ground vehicle, a first plurality of radar scans, wherein each of the first plurality of radar scans is received in response to transmissions of electromagnetic energy by the plurality of radar sensors at a first time;
determining, by an inertial measurement unit provided aboard the autonomous ground vehicle, a first set of inertial measurement unit data, wherein the first set of inertial measurement unit data is determined at the first time;
calculating at least a first constraint based at least in part on the first plurality of radar scans and the first set of inertial measurement unit data;
determining a first state of the autonomous ground vehicle at the first time based at least in part on the first constraint, the first plurality of radar scans and the first set of inertial measurement unit data;
receiving, by the plurality of radar sensors, a second plurality of radar scans, wherein each of the second plurality of radar scans is received in response to transmissions of electromagnetic energy by the plurality of radar sensors at a second time;
determining, by the inertial measurement unit, a second set of inertial measurement unit data, wherein the second set of inertial measurement unit data is determined at the second time;
determining, by at least one processor unit provided aboard the autonomous ground vehicle, a position of a first object based at least in part on the second plurality of radar scans;
calculating at least a second constraint based at least in part on the second plurality of radar scans and the second set of inertial measurement unit data;
determining, by the at least one processor unit, a second state of the autonomous ground vehicle at the second time based at least in part on the second constraint, the second plurality of radar scans and the second set of inertial measurement unit data, wherein the second state of the autonomous ground vehicle comprises at least:
a position of the autonomous ground vehicle at the second time;
an angle of orientation of the autonomous ground vehicle with respect to at least a first principal axis of the autonomous ground vehicle at the second time;
a linear velocity of the autonomous ground vehicle at the second time with respect to at least the first principal axis; and
an angular velocity of the autonomous ground vehicle at the second time with respect to at least the first principal axis; and
at least one of:
storing information regarding the second state of the autonomous ground vehicle at the second time in at least one memory component of the autonomous ground vehicle; or
transmitting at least a portion of the information regarding the second state of the autonomous ground vehicle to at least one computer system over one or more networks.
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