IMPROVED DETERMINATION OF POSE FOR A ROBOTIC WORK TOOL

• Main Authors: LILJEDAHL, Marcus, LANDIN, Rickard
• Format: Patent
• Language: English
• Published: 11.08.2024
• Subjects: AGRICULTURE; ANIMAL HUSBANDRY; CONTROLLING; FISHING; FORESTRY; GYROSCOPIC INSTRUMENTS; HARVESTING; HUMAN NECESSITIES; HUNTING; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; MOWING; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING; TRAPPING

A method for use in a robotic work tool system comprising a robotic work tool 100, the robotic work tool comprising a controller 110, a deduced reckoning sensor 180 comprising a direction sensor 181, and wherein the method comprises: receiving sensor input from the deduced reckoning sensors 180, determining a current sensed position of the robotic work tool 100 based on the received sensor input and a previous position of the robotic work tool 100, calibrating the direction sensor, determining an error in sensor input, interpolating the error in sensor input to the previous position, and determining a corrected position of the robotic work tool 100 based on the received sensor input, the interpolated error and the previous position of the robotic work tool 100.