Range image aided inertial navigation system (INS) with map based localization
US12203756B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Dec 6, 2023 |
| Grant date | Jan 21, 2025 |
| Priority date | — |
| Expiry date | Dec 6, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/20
- 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 previous navigation solution, and (ii) a specific force vector and an angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to perform an a priori transformation of RI data acquired by the RI sensor using the current navigation solution to obtain transformed RI data, an RI map database configured to retrieve a valid keyframe map based on the transformed RI data, and an RI filter manager (RFM) configured to construct a map registration cost gradient (MRCG) measurement based on (i) the transformed RI data, and (ii) the known position and the known orientation of the valid keyframe map. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the MRCG measurement.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.