Range image aided INS
US11815356B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Feb 18, 2021 |
| Grant date | Nov 14, 2023 |
| Priority date | — |
| Expiry date | Feb 22, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/1656
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a last navigation solution, and (ii) a specific force vector and a n angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to: perform a priori transformations of last RI data and current RI data to obtain transformed last RI data and transformed current RI data based on the last navigation solution and the current navigation solution, respectively, an RI filter manager (RFM) configured to construct a delta pose registration cost gradient (DPRCG) measurement based on (i) the transformed last RI data, (ii) the transformed current RI data, (iii) the current navigation solution, and (iv) the last navigation solution. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the DPRCG measurement.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.