Patent ID: 11886200
Assignee: TOPCON POSITIONING SYSTEMS, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 5:
6. A system for monitoring stability of an autonomous robot, the system comprising:
a Global Navigation Satellite System (GNSS}navigation receiver including an antenna, an analog front end, a plurality of channels, an inertial measurement unit (IMU) and a processor programmed with a path for the autonomous robot, all generating navigation and orientation data for the autonomous robot;
based on the navigation and the orientation data, the system calculating a position and a direction of movement for the autonomous robot;
the system calculating spatial and orientation coordinates zi, z2 of the autonomous robot, which relate to the position and the direction of movement;
the system continuing with a programmed path for any spatial and orientation coordinates z1, z2 within an attraction domain, such that a measure V(z) of distance from zero in a z1, z2 plane are defined by Lurie-Postnikov functions and is less than 1; and
for any spatial and orientation coordinates outside the attraction domain with V(z)>1, the system terminating the programmed.