Patent ID: 8548671

Claim:
A computer implemented method of automatically calibrating a vehicle parameter of an automated industrial vehicle, the method comprising: operating the automated industrial vehicle over a period of time that is sufficient for a vehicle parameter to change due to an external factor or normal wear of a component of the industrial vehicle, wherein the vehicle parameter represents a physical characteristic related to the industrial vehicle; analyzing error in a system measurement comprising an actual value y that is not directly observable and an observed value ŷ, wherein the observed value ŷ is obtained using noisy sensor readings from two different measurement models ŷ 1 , ŷ 2 , wherein ŷ 1 =f(s 1 , p 1 ), ŷ 2 =f(s 2 , p 2 ), s 1 and s 2 represent first and second sets of noisy sensor readings from two independent measures of the vehicle parameter from disparate data sources, and p 1 and p 2 represent first and second sets of parameters that relate the first and second sets of noisy sensor readings from the two independent measures of the vehicle parameter to the system measurement; adjusting the first and second sets of parameters p 1 and p 2 using an observed error represented by a difference between observed values from the two different measurement models ŷ 1 , ŷ 2 ; and associating vehicle operation with the adjusted parameters and operating the industrial vehicle according to the association.