Patent Document ID: 9921067
Application ID: 15158896
Patent Flag: 1

Claim One:
1. A materials handling vehicle comprising materials handling hardware, a wheel, an odometer, a positioning system, and a vehicle computing device, wherein the vehicle computing device stores logic that when executed by a processor, causes the materials handling vehicle to perform at least the following: determine a current location of the materials handling vehicle within a warehouse; determine, via the odometer, an odometry distance from the current location to a destination based on a calculation of a determined number of rotations of the wheel and a circumference of the wheel; determine, via the positioning system, a positioning system distance from the current location of the materials handling vehicle to the destination; compare the odometry distance with the positioning system distance to calculate a scaling factor; apply the scaling factor to a slow alpha filter to achieve a slow filter result, the slow alpha filter representing a slow change to the odometry distance, based on wear of the wheel; apply the scaling factor to a fast alpha filter to achieve a fast filter result, the fast alpha filter representing a fast change to the odometry distance, based on changing of the wheel; compare the slow filter result with the fast filter result; in response to determining that a difference between the slow filter result and the fast filter result is within a predetermined tolerance, apply the slow filter result to the scaling factor to smooth noise; in response to determining that a difference between the slow filter result and the fast filter result is not within the predetermined tolerance, apply the fast filter result to the scaling factor to smooth noise; calculate an updated odometry distance utilizing the scaling factor; and utilize the updated odometry distance to operate the positioning system.