The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 19, 2026
Filed:
Aug. 27, 2023
Wuhan University, Wuhan, CN;
WUHAN UNIVERSITY, Wuhan, CN;
Abstract
Provided is a vehicle 4D millimeter-wave radar inertial odometry method and a computer-readable medium. The method includes: eliminating significant radar spatial noise through relaxation filtering; performing single-frame velocity measurement based on a selecting weight iteration-based robust estimation method, and eliminating dynamic noise; performing IMU observation integration by mechanical arrangement to obtain a predicted vehicle state; constructing velocity constraints based on single-frame velocity measurement and a predicted velocity to initially update the vehicle state; constructing a local map based on the previous point cloud frame, searching n-nearest neighbor points of each radar point in the local map at next moment, calculating a weighted distance from distribution to multi-distribution as matching constraints from point cloud to local map, and performing further updating based on iterative filtering to obtain a precise vehicle state; and updating the vehicle state at all moments by 4Dradar closed-loop detection and GICP to reduce the positioning drift.