Patent ID: 11875615
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 8:
9. The non-transitory computer-readable medium of claim 8, in which the program code to determine the estimated standard deviation of the motion sensor noise comprises:
program code to visualize odometry signals based on the multiple passes of sensor measurements, in which a trajectory of the vehicle begins at a same location;
program code to compute a mean orientation of the visualizing of the odometry signals as a function of a distance traveled by the vehicle;
program code to normalize the mean orientation of the visualizing of the odometry signals by a square root of the distance traveled to attain the estimated standard deviation of the motion sensor noise;
program code to re-visualize the odometry signals based on the mean orientation as the function of the distance traveled; and
program code to plot an estimated X-direction standard deviation signal and an estimated Y-direction standard deviation signal of the motion sensor noise of the vehicle over the distance traveled based on the program code to re-visualize the odometry signals.