WO2023062532A1 - Reference based positioning system - Google Patents

Reference based positioning system Download PDF

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Publication number
WO2023062532A1
WO2023062532A1 PCT/IB2022/059738 IB2022059738W WO2023062532A1 WO 2023062532 A1 WO2023062532 A1 WO 2023062532A1 IB 2022059738 W IB2022059738 W IB 2022059738W WO 2023062532 A1 WO2023062532 A1 WO 2023062532A1
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WIPO (PCT)
Prior art keywords
data
information
vehicle
optical
source
Prior art date
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PCT/IB2022/059738
Other languages
French (fr)
Inventor
Fahrettin KOÇ
Kadriye KUTLUAY
Original Assignee
Tübi̇tak
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Publication of WO2023062532A1 publication Critical patent/WO2023062532A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/04—Details
    • G01S1/042—Transmitters
    • G01S1/0428—Signal details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/04—Details
    • G01S1/042—Transmitters
    • G01S1/0423—Mounting or deployment thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/68—Marker, boundary, call-sign, or like beacons transmitting signals not carrying directional information

Definitions

  • the present invention relates to the use of a reference-based navigation system to provide necessary information/data for the guidance/autopilot/navigation/other systems/units of all autonomous/semi-autonomous/non-autonomous land, air, sea, and space vehicles.
  • reference source or references can be positioned on any structure on earth (building, traffic light, traffic sign, lighting pole, panel, village house, electricity pole, etc.), road/route (barges placed on the sea, etc.), or reference source vehicle (a reference balloon in the air, vehicles with reference sources placed on a certain orbit in space, etc.).
  • the main systems currently used at the end-user level in the technical field to which the present invention is relevant are satellite-based Global Positioning Systems (GPS) and Earth-Referenced or Terrain Referenced Navigation System (ERNS or TRN).
  • GPS Global Positioning Systems
  • ERNS Earth-Referenced or Terrain Referenced Navigation System
  • satellite-based Global Positioning Systems are a known method used all over the world at the end-user level.
  • VO Visual Odometry
  • VIO Visual Inertial Odometry
  • INS inertial measurement units
  • Systems such as GPS which are currently in use in a chaotic and ordinary city pattern, can cause shading, satellite not being able to find, prolongation of launch time, losses, jamming/ spoofing, etc. encounters problems.
  • the present invention is designed to be used with or to replace systems such as GPS, TRN, SLAM, VO, or VIO.
  • Various location/positioning systems such as global positioning systems, allow users to provide location-based data via their portable electronic devices for use in different environments.
  • Other positioning techniques use inertial navigation sensors. Such techniques use one or more accelerometers, gyrometers, and/or magnetic sensors to detect changes in a device's position. By acquiring navigational data using sensor data, it is possible to determine the position of the device based on such inertial sensors. However, this technique can have inaccuracies, limited reliability, and biases.
  • INS inertial navigation system
  • a detector placed on air and land (and other) vehicles that are not fed from GPS information, placed in a way to detect optically (matrix code, etc.) and/or RF references which placed on any structure on earth, a system has been developed that provides navigation data of air and land (and other) vehicles traveling at high/low speed.
  • the patent document numbered US20040594183 which is the state of the art, describes a navigation system that includes two-dimensional (2D) barcodes, a barcode reader, and a control unit that enables a robot to position itself.
  • barcodes are placed on the floor.
  • 2D barcodes with a predetermined size have coordinate values for a local area and are read by the Barcode reader.
  • the barcode reader is installed at a predetermined location in the lower part of the robot's main body to read a 2D barcode on the floor.
  • the control unit recognizes the absolute coordinates within a predetermined area stored in memory based on the coordinate value of the 2D barcode read by the barcode reader, applies the absolute coordinates to a programmed motion algorithm, and thus the control unit controls the motion unit to move the main body.
  • the system in this patent document works in closed areas and the barcode is only placed on the floor. At the same time, the technique is described over a local area and there is no world position in terms of the information contained in the barcode. It does not include a scope that can replace GPS or provide navigation data in open space as in the present invention. This invention differs from the present invention in how it determines absolute coordinates. In addition, the invention in this patent document is not applicable to aircraft.
  • Patent document numbered as FI20180005626 relates to a device for navigation aid of autonomous vehicles.
  • the said device includes an antenna for RF communication with RFID (radio frequency identification) tags, a memory containing computer code, at least one RS SI (Received signal strength) from the RFID tag, which receives identification data from at least one RFID tag configured to initiate signal transmission to an RFID tag. indicator) value and recognizing the data, providing position information to the autonomous vehicle control system.
  • RFID tags used in the technique in this document can only be read at close range (usually in several centimeters) by the RFID reader. Therefore, the RFID tag method does not provide a suitable solution for use in air vehicles.
  • Indoor positioning systems allow the location of selected electronic units (eg tag units) to be determined within a selected region.
  • Various indoor positioning systems use simple forwarder tag units and a structured server system to locate the tag units.
  • Such a tag unit can be mounted on shopping carts or carts, for example, to provide location-based information to users within a store.
  • a method and system suitable for indoor navigation are described.
  • Said system relates to a method and a corresponding system configuration enabling a hybrid indoor positioning system using an external positioning system combined with one or more sensors associated with an electronic device.
  • the system of this technique is to provide high positioning accuracy using an external proprietary positioning system, however at the same time, the presence of a hand-held electronic device (eg mobile computer or cell phone) that can usually be carried by a typical user is required.
  • a positioning system adapted to locate a plurality of tag units provides data on the location of users or operators transporting the tag units within a selected region.
  • tag units can be mounted on selected mobile elements such as shopping carts or baskets, karting, go-karts, toy vehicles, etc. and can be used to monitor the position of mobile elements in the selected area.
  • his technique allows to interface with the user/operator to provide location-based information using one or more electronic devices that can be carried by the users/operators (for example, via a user's mobile computer or cell phone).
  • the technique uses one or more modes of relative movement of the user and the corresponding tag unit, and the correlation between the location data of a selected tag unit (paired with the electronic device) and the sensor data of the electronic device to determine the user location.
  • the technique uses one or more modes of relative movement of the user and the corresponding tag unit, and the correlation between the location data of a selected tag unit (paired with the electronic device) and the sensor data of the electronic device to determine the user location.
  • it enables a user's location to be determined based on the location of the relevant tag unit.
  • the electronic device used herein is generally required to include one or more sensors or positioning techniques suitable for providing sensor data.
  • sensors should include one or more accelerometers, magnetic field detectors, as well as locator modules that can be operated based on Wi-Fi or Bluetooth protocols.
  • locator modules that can be operated based on Wi-Fi or Bluetooth protocols.
  • Positioning methods of mobile robots include coding methods, radio frequency identification method, and visual positioning method.
  • the radio frequency identification method requires the high-density deployment of radio frequency tags, but the dense arrangement of radio frequency tags interacts with each other during the positioning process, causing positioning errors.
  • Visual positioning methods based on artificial road signs are considered to be one of the most reliable positioning methods for mobile robots.
  • the invention in the patent document numbered CN201711497983 relates to robot positioning.
  • the said invention provides a mobile robot positioning method based on hybrid navigation, which aims to solve the problems of low positioning accuracy and limited current visual positioning method.
  • the mobile robot is equipped with the camera and a positioning sensor.
  • the photographic plane of the camera is parallel to the ground.
  • the camera sends the collected image to the positioning sensor.
  • the positioning sensor detects if there is a DataMatrix code in the image. If any, the sensor is based on the DataMatrix code in the image. Positioning will position by the color band if not present.
  • the DataMatrix code strip and the colored strip are placed on the floor of the mobile robot's walkway.
  • the color strip is set on the path of the moving area, and the DataMatrix code strip is set on the path of the precisely positioned area.
  • the mentioned invention is not suitable for use in aircraft and out-of-town areas.
  • the invention in the patent document numbered as US3789409A relates to a satellite-based navigation system.
  • data such as location and distance on earth can be obtained utilizing signals over satellites.
  • the technique is based on high-altitude satellite signals, it becomes dysfunctional if satellite signals are lost in a complex city pattern. Satellite signals are regional, prone to spoofing as there are no local signals, and widespread deception and jamming measures are already in place. It cannot be used in closed environments (indoors). It is necessary to wait during the initial start-up when the satellite signals are lost or for the vehicle to find the navigational route again. Since satellite systems are in the hands of certain countries, it causes other countries to be dependent on these countries.
  • the utility model document numbered as CN201821482429U describes a navigation system for unmanned vehicles that includes a strip barcode, a video camera, and a vehiclemounted computer.
  • the system consists of arranging a lane barcode on a lane marking the line of the vehicle's heading and using video cameras placed on the left and right side of the front end of the vehicle to photograph the left and right lane barcodes.
  • the vehicle-mounted computer in the system is placed in the vehicle and electrically connected to the video camera.
  • the vehicle-mounted computer is used to automatically recognize the barcode image to obtain the vehicle's current pose and velocity vector information.
  • the video camera placed on the left and right is used to obtain barcode images at 30-50 frames per second.
  • Patent document numbered as US2020/249689 describes a visual localization assist system or a driving aid system with simultaneous localization and mapping (SLAM).
  • a highway includes one or more guide indicators placed on the road surface.
  • Each guiding indicator here contains a matrix barcode that uniquely identifies a location by latitude, longitude, and altitude. It is the detection of data by a camera.
  • the system in this document is not suitable for use by an aircraft cruising from a certain altitude at a certain speed.
  • the techniques in the above-mentioned inventions use the barcode and a device that detects this barcode to locate a robot or vehicle, they also limit the means by which these techniques can be used to solve the location problem. It is known that the optical/camera systems of existing aircraft can distinguish a cm-sized object on the ground from a height of thousands of km. However, weather conditions may limit this view. In addition, it is obvious that it will create constraints in situations such as the constant passing of vehicles over an optical trace laid on the road only. An optical sign that is recommended to be placed only on the road is not suitable for use by an aircraft cruising at a certain altitude at a certain speed.
  • signs can be placed on buildings, signs, and any structure or vehicle type (air, land, sea, spacecraft, etc.) for these vehicles.
  • the positioning system with optical and/or RF signals continues to work against situations such as the inability to detect optical traces due to altitude due to weather conditions.
  • inventions and methods based on image processing techniques are also being developed. These systems are based on navigation data analysis by comparing the previously recorded data with the currently decoded image. However, systems based on image processing techniques cannot be used in dynamic city patterns, database access problems, or in regions that are encountered for the first time and do not have data.
  • the patents which are widely used at the end-user level, are satellite-based navigation and landform-based navigation methods.
  • the reference-based positioning system in the subject matter of present invention has the following advantages compared to the positioning systems (GPS and TRN, etc.) available in the state of the art;
  • the present invention there are sources of signs/marks/traces or references that contain spatially locality.
  • an air vehicle reads the new reference for its new position or receives new reference-based navigation data by employing the present invention while pursuing its movement along the path.
  • This repeated data prevents regional jamming and spoofing and deception for RF (Radio frequency) signals encountered in the Global Positioning System.
  • RF Radio frequency
  • optical jamming and deception cannot be done locally as with RF signals. Therefore, it is obvious that the present invention provides resistance to interference and electronic counter measures (robustness).
  • Satellite systems used by current global positioning systems have been developed by developed countries and belong to these countries. For countries that are underdeveloped, undeveloped, or do not have satellite systems, this means that they are dependent on countries with satellite systems. In the technique proposed in the present invention, simple infrastructure and product technologies that even undeveloped countries can easily realize are utilized.
  • the reference sources specified in the present invention should be considered as the inventive counterpart of satellite systems required for GPS, which do not need constant renewal, that is, infrastructure, but it is much simpler and easier in terms of technological accessibility and adaptability.
  • the frequency of reference sources, and where and how to place them is easy to calculate, scalable and open to optimization. Therefore, the present invention eliminates the dependence of underdeveloped or developing countries on developed countries in terms of satellite systems.
  • the RF (Radio Frequency) coverage area of the satellites at different building heights can remain in the shadow of the buildings.
  • problems with urban use This problem arising from the communication with the satellite has been solved by the optical signals in the present invention and the RF signals that are in the line of sight of the sensor placed directly on the vehicle.
  • Satellite scanning time is a problem in the Global Positioning System. This problem due to reasons such as seeing a sufficient number of satellites has been solved by the present invention. Since the marks or references placed in the present invention are in the field of view of the vehicle and the sensor simply needs to resolve that mark or reference or signal, there is no intolerable time such as scanning time.
  • the Earth Reference Navigation System is based on fixed landforms in a predetermined orbit. This system, which is mostly used for positioning outside the city, is not very suitable for the dynamically changing city pattern. In the solution we propose in the present invention, it is possible to use both in the city and outside the city. Also, the Earth Reference Navigation System is not applicable to land vehicles, but the present invention is applicable to all vehicles.
  • the Earth Reference Navigation System (or Terrain Referenced Navigation) needs precise radar height measurements.
  • the sensors used such as the altimeter, must be of sufficient sensitivity in this context.
  • the vehicle must travel above a certain height. According to this system, where height information is constantly needed to find its location on the earth map, units such as optical sensors (the camera, etc.) and RF sensors (the radio, etc.) that only detect previously placed signs are used in the solution proposed in the present invention.
  • the use of the Earth Reference Navigation System is mostly based on natural landforms outside the city and there are problems with the use of this system in the city.
  • This system which is mostly used for positioning outside the city, reveals the need for continuous pattern updates for the dynamically changing city pattern.
  • the system we propose in the present invention is suitable for use both in the city and outside the city, it does not require reaching the current pattern or map at the end-user level.
  • the Earth Reference Navigation System is not usable for low-altitude aircraft and land vehicles. Contrary to this system, which tries to find location from the earth map with information such as altitude measurement, the system we propose in the present invention is applicable for all autonomous or non-autonomous air, land, sea, and space vehicles at any altitude.
  • the present invention can also be used in cases where the GPS and TRN are ineffective. While satellite signal-based systems may have problems in closed environments such as tunnels, the reference-based navigation system in the present invention can also be used in closed spaces such as tunnels.
  • Figure 1 An example of a city pattern and a building that is complex and can cause problems such as shading
  • Figure 2 Examples of optical and RF reference sources (which can also be referred to as beacons, traces, etc.), the structure in which these reference sources are placed, and a demonstration of a few examples of vehicles in which the invention can be used
  • Figure 3 Example layout of optical and RF reference sources showing that optical and RF reference sources are on different structures in any settlement
  • Figure 4 Example layout of optical and RF reference sources showing that optical and RF reference sources are on the same structure in any settlement
  • Figure 5 Illustration of layout for optical and RF reference sources indoors or in tunnels like covered areas
  • Figure 8 - Village, mountain or island, etc. Example demonstration of the placement of optical and/or RF reference sources over a rural area
  • Optical trace/mark/reference source 103 RF reference source
  • the present invention describes a navigation system that maintains its functionality both in a high-density complex pattern city ( Figure 1) and on a low-density line, or a system that obtains the necessary data by analyzing the reference.
  • optical reference (102) source and/or RF reference source (103) that can be located on any structure, road/track, or reference vehicle and contains reference data, by an RF and/or optical sensor/detector (109) in the vehicle/car/system (108); processing and interpreting the reference data (latitude, longitude, altitude, unique address info, physical properties of the reference source, the known data about other references, etc.) and also the reference (itself) in the data processor (110), transferring the interpreted data to the relevant unit/system/devices (112), and performing navigation/positioning(global or spatial)/required data analysis/evaluation.
  • Data analysis within the scope of this invention includes directly getting the data i.e., latitude, longitude, altitude, location, and address, which is already existing in the reference code (optically) or signal (RF-based). Moreover, the data analysis provides also the necessary information (position of the vehicle/system/unit using the invention, distance, and/or orientation from the reference source, etc.) that does not exist in the content of the data directly placed in the reference code or signal, but can be obtained through detectors/sensors (optically and/or RF-based) by the help of image processing and/or signal processing algorithms e.g., the ratio of the received signal to noise calculation, or the orientation approximation of the vehicle according to the intensity, frame size calculation. Together with these combinations of data provides a vehicle/system/device utilizing the mentioned invention to have global or spatial position data, unique address info, and navigation capability.
  • optical reference source or the RF reference source used within the scope of the present invention can be positioned on any structure, for example, a building (101).
  • mentioned optical reference source (102) and RF reference source (103) can be placed on;
  • Figure 2 presents, as an example, candidate locations of reference sources around any building (101) and vehicles that make use of these reference sources or in which the invention can be used.
  • an optical reference includes the information of “45.62971”, “25.71629”, 13.0 (latitude longitude height), and of 70, 60, 5, 01.22, 4, T102, data_matrix, 2B (width, length, thickness, depth, restoration date, neighbor_reference_count_in_100mR, standard, code type, code length) placed on the second floor wall of a building.
  • the reference data includes 25, 52, 75 latitude, longitude and altitude information of the building, and the physical properties of the optical reference, and other information.
  • the reference data provides the global or spatial position of the reference source, but to solve the vehicle/system/missile/device’s global or spatial position we have to have more data).
  • the reference (source) itself may be a data matrix.
  • the latitude/longitude/height of the building and the physical information of the data matrix and other information are taken from the reference data (by image processing processes/algorithms/tools), together with this information, the reference itself is resolved as a picture by image processing processes/algorithms/tools, and the position of the vehicle/device where the present invention’s sensor and processor side is located (ex: 45,571629, 25,629571, 13.3) is obtained.
  • the invention is based on reference sources containing necessary data/information.
  • the system makes global and spatial positioning of the vehicle by using data integrated into reference sources and by using reference source itself.
  • the reference source itself is an image/mark for optical reference sources, and/or an RF signal for RF reference sources.
  • the optical and RF reference sources can be used separately or simultaneously.
  • the system detects at least one optical trace/reference source (102) and/or RF reference source (103) containing reference data and reference source itself by an active or passive RF and/or optical sensor (109) in a vehicle (108) or a device.
  • an active or passive RF and/or optical sensor (109) in a vehicle (108) or a device.
  • Global and/or spatial position of the vehicle and/or address resolution and/or navigation (112) of the vehicle is performed.
  • Reference data/information in the present invention includes global or spatial position, longitude, latitude, altitude, physical information (characteristics and specifications for the RF signal or Optical Mark/Image, placement, location and dimensional information, type and compatible standards information) of the reference source, and unique address information and data/information required for positioning and navigation.
  • the coordinate axes of the aforementioned data/information required for navigation can be pinned to a global origin or an arbitrary origin in space.
  • any coordinate system instead of latitude-longitude-altitude can be used within the scope of the proposed invention.
  • Reference (source) itself corresponds an image/mark for the optical reference source and an RF signal for the RF reference source.
  • Present invention provides global or spatial positioning for the vehicle/device/system that benefits from the invention is obtained by analyzing the reference data and the reference itself as mentioned above.
  • the analysis employs signal processing and/or image processing (algorithms) by using images and/or RF signals of the reference(s) together with the reference data attached to the reference(s) to obtain Global or spatial positioning for the vehicle/device/system that benefits from the invention to provide navigation support.
  • Signal processing mainly includes frequency translation, filtering, amplification, conversion, digital processing.
  • Signal processing and RF signal processing algorithms in the present invention, utilizing the reference data, reference itself and also other signals (for triangulation) for spatial or global positioning, address finding, and navigation.
  • Image processing mainly includes acquisition, image filtering, enhancement, transformations, decoding, and restoration.
  • Image processing in the present invention, utilizing the reference data, reference itself and also other images/marks for spatial or global positioning, address finding, and navigation.
  • Reference sources operate based on optical or radio frequency technologies.
  • the reference representations (data code/RF wave) in Figure 2 and all other figures in the description are presented as examples to explain the invention. These references are subject to change.
  • another standard code/mark/sign or a non-standard code/mark/sign can be used instead of the data matrix.
  • active optical signals e.g., laser signal
  • passive codes/marks/signs/signals can also be used.
  • the waveform of the RF signal of an RF-based reference source that can be placed on a building may also differ.
  • Any driver-requiring (104) or autonomous land vehicle (105) can use the data/information provided from reference sources (107) to find its location or to get any necessary data/information using the system described in the present invention.
  • it is required for navigation/guidance/autopilot/other by an autonomous/semi- autonomous/non-autonomous aircraft (106) or land vehicle (104) or any vehicle (sea, submarine, spacecraft, etc.) data/information (if positioning with latitude-longitude-height, if a different coordinate axis is defined, data according to this axis, unique address description, routing information for closed areas, etc.) can be provided by the use of this reference-based navigation system.
  • Latitude and longitude information can be placed in the QR code (example), which is one of the mentioned optical or RF reference sources, to analyze the location data on the earth.
  • the design of reference sources can be shaped to provide this data/information.
  • the data/information herein does not necessarily have to be a predefined standard (such as a QR/matrix code).
  • optical reference sources (102) can be placed above a restaurant, or optical (102) and/or RF (103) reference sources can be placed on a lamppost or lighting pole (Figure 3).
  • RF and optical references can be located in a different unit or structure, or they can be found on a single structure or unit. It is possible to have different types of reference sources on the same structure or unit. For example, on a lamppost, both optical (102) and RF (103) references can be found simultaneously ( Figure 4)
  • the present invention can also be used in tunnels where GPS and TRN cannot be used.
  • Optical (102) or RF (103) reference sources can be placed on existing structures/units such as lighting poles in the tunnels in question, or a separate structure/unit can be placed for the reference source.
  • Reference sources can also be placed on tunnel walls, ceilings, or anywhere along the tunnel (road, etc.) ( Figure 5).
  • RF reference sources (103) and optical reference sources (102) placed on routes such as land, villages, and mountains outside the settlements can be used.
  • a unit or structure can be placed for the reference resource, or it can be used by placing the reference resource on any accessible existing unit or structure.
  • Optical reference (QR code etc.) source (102) and/or RF reference source (103) on a structure can be inserted.
  • the specified reference sources can be placed on a village house or any structure, a unit or structure can be placed for the reference source, they can also be placed on an existing structure or unit, and more than one type of reference source can be located on a unit or structure ( Figure 8).
  • the RF Reference source (103) is a reference source that provides the necessary data/information (navigation information, address information, location information, latitude/longitude information, unique identification information, etc.) with radio frequency waves.
  • the optical trace/reference source is (102); it is a reference source that provides the necessary data/information (navigation information, address information, location information, latitude/longitude information, unique identification information, etc.) with optical references.
  • the optical reference can be active and/or passive. It is envisaged that methods such as laser signal emitters can be used for the active reference source. It is recommended to use optical references such as a data matrix for a passive reference source.
  • the optical reference here can be any different sign instead of the data matrix, it may be preferred depending on the reference information/data.
  • the optical code/sign/trace can be passively placed on any structure or unit (for example, on a relatively fixed-position vehicle in the air or on a reference beacon).
  • a structure that receives data/information from reference sources is also within the scope of the invention. This structure can be inside a vehicle (108) or outside the vehicle.
  • RF and/or optical sensors/detectors are units that perceive data provided by reference sources.
  • Optical sensors can be active or passive sensors depending on the preferred optical reference source. Active sensors are sensors that analyze the data/information in the passive reference source. Vehicle cameras, which are currently widely used at the end-user level, can be given as an example of active sensors. The relevant data/information in the QR code given as an example by these cameras can be easily analyzed.
  • Passive sensors decode the data/information provided from the active reference source (for example, a unit that analyzes the signal from a reference source emitting an active laser signal).
  • the data processor (110) analyzes the data received by the sensor(s) (109) and transfers it to the relevant vehicle or device.
  • the vehicle in question (108) here refers to any manned land/air/sea/space vehicle. This vehicle can be autonomous, semi-autonomous, non-autonomous, or driver-driven.
  • the use of the invention by marine vessels is possible by positioning the reference sources above the sea or in the air. For example, if reference sources are placed on pontoons or fixed platforms placed on the sea, or by the use of aircraft such as balloons carrying reference sources, the necessary data will be provided to the said sea vehicle by using the invention by sea vehicles.
  • reference sources can be placed under the sea by stationary vehicles/structures/units or platforms, as well as reference sources stationary on water, and the necessary data/information for guidance/navigation/autopilot/other can be provided by submarine vehicles.
  • Use of the invention by spacecraft may be provided by reference sources prelocated or orbiting space waypoints.
  • the vehicle (108) instead of the vehicle (108), it can be a device that can detect the RF and/or optical reference sources placed and provide guidance, especially in closed areas.
  • the indoor environment here is areas with a fixed or mobile roof or roof (including tents, sunshades, etc.), whose side surfaces are completely closed, temporarily or permanently, except for doors, windows, and entry ways; Likewise, they are places that have a ceiling or roof and more than half of their side surfaces are closed.
  • the said reference-based navigation system can also provide the necessary data/information (such as the booth to be visited at the fair, a road for the visually impaired, orientation to the store in the mall) to a device by a device (such as glasses, visually impaired walking stick, headband) in a closed place (such as shopping malls, mines, fairs).
  • a device such as glasses, visually impaired walking stick, headband
  • the device takes the place of the vehicle.
  • Reference sources are placed on lines, shop windows, signs, railings, and also structures or units within the indoor space, rather than structures or units.
  • the sensor/detector and Tenderer functions are on the device, the device can be carried by a human or integrated into a vehicle carried by a human, or placed in an article.
  • the system has 2 different basic elements.
  • One of them is the source (113) and the other is the tool (108) (or device).
  • the source is the element that provides the reference and that reference contains the necessary data/information. It can be active or passive.
  • the vehicle (or device) receives the necessary data/information from reference sources through sensors.
  • the required data/information (data from reference sources) received by the optical sensor (109) in the vehicle is interrogated, if there is any data/information source other than the invention (if there is any data source such as GPS, TRNS, SLAM, VO). And then the reference data/information is passed to the data processor 110.
  • the navigation unit here; is the navigation system, device, or unit.
  • the present invention describes a navigation system that can be used by all vehicles and devices.
  • the navigation system of the present invention can be used by all countries and their citizens. It is designed to replace such a system based on the satellite systems of developed countries like GPS.
  • the present invention can be used alone, as a supplement to existing navigation systems, or adapted to replace these systems.

Abstract

The present invention that providing data/information (Location, latitude/longitude, speed, altitude, unique identity, address) required for the guidance/autopilot/navigation systems of autonomous or semi-autonomous or non-autonomous, driver or driverless, land or air or sea or submarine or space vehicles, is related to the reference-based navigation system. Invention: It uses reference sources or references on any structure (building, village house, detached house, traffic light, traffic light, lighting pole, panel, etc.) or vehicles carrying/having reference source or route or waypoint on earth. These references are signals (optical and/or radio frequency signals) containing data/information required for guidance/autopilot/navigation systems. The invention describes a system based on detecting these signals with a passive or active sensor (optical and/or RF), providing global positioning, address resolution, resolution of data contributing to the guidance or receiving the required data/information. The system described in the present invention can also be used in the marine environment, in the submarine environment. In addition, it is used in the space environment by placing reference sources at waypoints. The invention is functional not only in outdoor environments but also in indoor environments. It can be used by vehicles in closed environments, as well as by devices used directly by people. Thus, it provides the necessary data/information for orientation in closed places such as shopping malls and fairs. The invention includes placing all kinds of data and information on reference sources, locating these sources anywhere, and using the data/information provided from these sources (both directly from a source and from a source's own information) by any tool or device for the relevant purpose (positioning, navigation, addressing) targets its use.

Description

DESCRIPTION
REFERENCE BASED POSITIONING SYSTEM
Technical Field
The present invention relates to the use of a reference-based navigation system to provide necessary information/data for the guidance/autopilot/navigation/other systems/units of all autonomous/semi-autonomous/non-autonomous land, air, sea, and space vehicles.
Within the scope of the invention, reference source (s) or references can be positioned on any structure on earth (building, traffic light, traffic sign, lighting pole, panel, village house, electricity pole, etc.), road/route (barges placed on the sea, etc.), or reference source vehicle (a reference balloon in the air, vehicles with reference sources placed on a certain orbit in space, etc.).
It describes a system based on the detection of references (optical marks/indicators and/or radio frequency signals) and their detection by a sensor/detector (active or passive), providing resolution of global positioning, spatial positioning, address resolution, navigational contribution data or indoor orientation data.
Prior Art
The main systems currently used at the end-user level in the technical field to which the present invention is relevant are satellite-based Global Positioning Systems (GPS) and Earth-Referenced or Terrain Referenced Navigation System (ERNS or TRN). Especially satellite-based Global Positioning Systems are a known method used all over the world at the end-user level.
In addition to these systems, solutions based on mapping with optical sensors/detectors (Simultaneous Localization and Mapping (SLAM), etc.) have also been proposed (US7831094B2). For the mentioned solutions to recognize dynamically changing city and terrain patterns, it is necessary to constantly update the maps used.
In addition to these systems, methods such as Visual Odometry (VO) or Visual Inertial Odometry (VIO) for navigation based on image processing with cameras (optical sensor) placed inertial measurement units (INS) are also available and are being developed (US8213706B2).
Systems such as GPS, which are currently in use in a chaotic and ordinary city pattern, can cause shading, satellite not being able to find, prolongation of launch time, losses, jamming/ spoofing, etc. encounters problems. The present invention is designed to be used with or to replace systems such as GPS, TRN, SLAM, VO, or VIO. Various location/positioning systems, such as global positioning systems, allow users to provide location-based data via their portable electronic devices for use in different environments. Other positioning techniques use inertial navigation sensors. Such techniques use one or more accelerometers, gyrometers, and/or magnetic sensors to detect changes in a device's position. By acquiring navigational data using sensor data, it is possible to determine the position of the device based on such inertial sensors. However, this technique can have inaccuracies, limited reliability, and biases.
Signal losses and/or errors in the global positioning system in manned and unmanned aerial and land vehicles affect the navigation of the vehicle. While navigation by the pilot may continue for a while, especially in manned aircraft, a result such as the destruction of the vehicle may be encountered in unmanned aerial vehicles. For this reason, the inability of aircraft to continue their navigation in environments where the global positioning system is problematic or its operation is interrupted is one of the most common navigation problems. In case of loss of signal from satellites for GPS, even if the aircraft can continue to navigate for a while with the inertial navigation system (INS), the error in the navigation of the aircraft increases, and the aircraft moves away from the route it should be able to follow. For this reason, with the present invention, a detector (sensor, the camera, etc.) placed on air and land (and other) vehicles that are not fed from GPS information, placed in a way to detect optically (matrix code, etc.) and/or RF references which placed on any structure on earth, a system has been developed that provides navigation data of air and land (and other) vehicles traveling at high/low speed.
When the literature on reference-based positioning systems is examined, the following documents, including the known state of the art, using systems similar to the invention subject to the current patent application were found:
The patent document numbered US20040594183, which is the state of the art, describes a navigation system that includes two-dimensional (2D) barcodes, a barcode reader, and a control unit that enables a robot to position itself. In the invention in this patent document, barcodes are placed on the floor. 2D barcodes with a predetermined size have coordinate values for a local area and are read by the Barcode reader. The barcode reader is installed at a predetermined location in the lower part of the robot's main body to read a 2D barcode on the floor. The control unit recognizes the absolute coordinates within a predetermined area stored in memory based on the coordinate value of the 2D barcode read by the barcode reader, applies the absolute coordinates to a programmed motion algorithm, and thus the control unit controls the motion unit to move the main body. The system in this patent document works in closed areas and the barcode is only placed on the floor. At the same time, the technique is described over a local area and there is no world position in terms of the information contained in the barcode. It does not include a scope that can replace GPS or provide navigation data in open space as in the present invention. This invention differs from the present invention in how it determines absolute coordinates. In addition, the invention in this patent document is not applicable to aircraft.
Patent document numbered as FI20180005626, relates to a device for navigation aid of autonomous vehicles. The said device includes an antenna for RF communication with RFID (radio frequency identification) tags, a memory containing computer code, at least one RS SI (Received signal strength) from the RFID tag, which receives identification data from at least one RFID tag configured to initiate signal transmission to an RFID tag. indicator) value and recognizing the data, providing position information to the autonomous vehicle control system. RFID tags used in the technique in this document can only be read at close range (usually in several centimeters) by the RFID reader. Therefore, the RFID tag method does not provide a suitable solution for use in air vehicles.
Indoor positioning systems allow the location of selected electronic units (eg tag units) to be determined within a selected region. Various indoor positioning systems use simple forwarder tag units and a structured server system to locate the tag units. Such a tag unit can be mounted on shopping carts or carts, for example, to provide location-based information to users within a store.
In the patent document number W02020IL50783, a method and system suitable for indoor navigation are described. Said system relates to a method and a corresponding system configuration enabling a hybrid indoor positioning system using an external positioning system combined with one or more sensors associated with an electronic device. The system of this technique is to provide high positioning accuracy using an external proprietary positioning system, however at the same time, the presence of a hand-held electronic device (eg mobile computer or cell phone) that can usually be carried by a typical user is required. According to said art, a positioning system adapted to locate a plurality of tag units provides data on the location of users or operators transporting the tag units within a selected region. For example tag units can be mounted on selected mobile elements such as shopping carts or baskets, karting, go-karts, toy vehicles, etc. and can be used to monitor the position of mobile elements in the selected area. Additionally, his technique allows to interface with the user/operator to provide location-based information using one or more electronic devices that can be carried by the users/operators (for example, via a user's mobile computer or cell phone). The technique uses one or more modes of relative movement of the user and the corresponding tag unit, and the correlation between the location data of a selected tag unit (paired with the electronic device) and the sensor data of the electronic device to determine the user location. Thus, it enables a user's location to be determined based on the location of the relevant tag unit. However, this technique is not suitable for outdoor use. User location tracking may not be possible when the tag unit is not near it. In addition, the electronic device used herein is generally required to include one or more sensors or positioning techniques suitable for providing sensor data. Such sensors should include one or more accelerometers, magnetic field detectors, as well as locator modules that can be operated based on Wi-Fi or Bluetooth protocols. There is no need for a device with these features in the present invention. As a result, it is stated that the technique described in the said patent document is used indoors. The sensor used in this method differs from the method of the present invention in terms of how the positioning is achieved. In addition, the method in the said patent document is not suitable for high-speed aircraft or air vehicles.
Precise positioning for mobile robots has gained importance as mobile robots are increasingly being used in areas such as automated factories and intelligent warehousing and logistics. Positioning methods of mobile robots include coding methods, radio frequency identification method, and visual positioning method. The radio frequency identification method requires the high-density deployment of radio frequency tags, but the dense arrangement of radio frequency tags interacts with each other during the positioning process, causing positioning errors. Visual positioning methods based on artificial road signs are considered to be one of the most reliable positioning methods for mobile robots.
The invention in the patent document numbered CN201711497983 relates to robot positioning. The said invention provides a mobile robot positioning method based on hybrid navigation, which aims to solve the problems of low positioning accuracy and limited current visual positioning method. In the method of the said invention, the mobile robot is equipped with the camera and a positioning sensor. The photographic plane of the camera is parallel to the ground. The camera sends the collected image to the positioning sensor. The positioning sensor detects if there is a DataMatrix code in the image. If any, the sensor is based on the DataMatrix code in the image. Positioning will position by the color band if not present. The DataMatrix code strip and the colored strip are placed on the floor of the mobile robot's walkway. The color strip is set on the path of the moving area, and the DataMatrix code strip is set on the path of the precisely positioned area. The mentioned invention is not suitable for use in aircraft and out-of-town areas.
The invention in the patent document numbered as US3789409A, relates to a satellite-based navigation system. According to the said document, data such as location and distance on earth can be obtained utilizing signals over satellites. Since the technique is based on high-altitude satellite signals, it becomes dysfunctional if satellite signals are lost in a complex city pattern. Satellite signals are regional, prone to spoofing as there are no local signals, and widespread deception and jamming measures are already in place. It cannot be used in closed environments (indoors). It is necessary to wait during the initial start-up when the satellite signals are lost or for the vehicle to find the navigational route again. Since satellite systems are in the hands of certain countries, it causes other countries to be dependent on these countries.
In patent documents numbered as US6512976B1 and CN102426018 A, earth reference navigation system is mentioned. Accordingly, it is based on the system to obtain navigation data by using sensors such as an altimeter. However, the systems in which these patent is used have to make navigation based on the earth's patterns, which makes it difficult to use the patent in the city. In addition, it can only be used for vehicles cruising from a certain height, it is not possible to use autonomous or driver-driven land vehicles or aircraft cruising at low altitudes.
The utility model document numbered as CN201821482429U describes a navigation system for unmanned vehicles that includes a strip barcode, a video camera, and a vehiclemounted computer. The system consists of arranging a lane barcode on a lane marking the line of the vehicle's heading and using video cameras placed on the left and right side of the front end of the vehicle to photograph the left and right lane barcodes. The vehicle-mounted computer in the system is placed in the vehicle and electrically connected to the video camera. The vehicle-mounted computer is used to automatically recognize the barcode image to obtain the vehicle's current pose and velocity vector information. The video camera placed on the left and right is used to obtain barcode images at 30-50 frames per second. All obtained information is matched with the strip barcode information and electronic map measured by milestones previously stored in the database to perform automatic navigation of the vehicle. In addition, the process of creating the strip barcode information and the electronic map measured by milestones previously stored in the database is also explained in this document. In the invention described in this patent document, the QR codes are placed side by side and the camera captures 30-50 QR code images per second. In addition, a map is needed in this system. Placing the QR codes only on the lanes on the highway does not make it possible to use this system in places such as deserts or mountainous areas. In addition, it is not suitable for use in high-speed aircraft.
Patent document numbered as US2020/249689 describes a visual localization assist system or a driving aid system with simultaneous localization and mapping (SLAM). In the present invention, a highway includes one or more guide indicators placed on the road surface. Each guiding indicator here contains a matrix barcode that uniquely identifies a location by latitude, longitude, and altitude. It is the detection of data by a camera. However, the system in this document is not suitable for use by an aircraft cruising from a certain altitude at a certain speed.
Although the techniques in the above-mentioned inventions use the barcode and a device that detects this barcode to locate a robot or vehicle, they also limit the means by which these techniques can be used to solve the location problem. It is known that the optical/camera systems of existing aircraft can distinguish a cm-sized object on the ground from a height of thousands of km. However, weather conditions may limit this view. In addition, it is obvious that it will create constraints in situations such as the constant passing of vehicles over an optical trace laid on the road only. An optical sign that is recommended to be placed only on the road is not suitable for use by an aircraft cruising at a certain altitude at a certain speed. In the present invention, signs can be placed on buildings, signs, and any structure or vehicle type (air, land, sea, spacecraft, etc.) for these vehicles. In addition, the positioning system with optical and/or RF signals continues to work against situations such as the inability to detect optical traces due to altitude due to weather conditions.
In addition to the inventions described above, inventions and methods based on image processing techniques are also being developed. These systems are based on navigation data analysis by comparing the previously recorded data with the currently decoded image. However, systems based on image processing techniques cannot be used in dynamic city patterns, database access problems, or in regions that are encountered for the first time and do not have data. Among the mentioned inventions, the patents, which are widely used at the end-user level, are satellite-based navigation and landform-based navigation methods.
Technical Problem that Invention Aims to Solve
The reference-based positioning system in the subject matter of present invention has the following advantages compared to the positioning systems (GPS and TRN, etc.) available in the state of the art;
-having a design that is resistant to jamming and spoofing,
-no need to load maps or database beforehand,
-being adaptable to air/land/sea/submarine/space vehicles from all altitudes and autonomous/semi-autonomous/non-autonomous vehicles, to devices, to missiles -not involving time-consuming processes and techniques such as satellite scanning systems,
-not encountering problems caused by building shading,
-not being dependent on any country's systems,
-being adaptable with different application methods, and
-can work simultaneously with other positioning and navigation systems.
In the present invention, there are sources of signs/marks/traces or references that contain spatially locality. For example, an air vehicle reads the new reference for its new position or receives new reference-based navigation data by employing the present invention while pursuing its movement along the path. This repeated data prevents regional jamming and spoofing and deception for RF (Radio frequency) signals encountered in the Global Positioning System. Also, optical jamming and deception cannot be done locally as with RF signals. Therefore, it is obvious that the present invention provides resistance to interference and electronic counter measures (robustness).
Satellite systems used by current global positioning systems have been developed by developed countries and belong to these countries. For countries that are underdeveloped, undeveloped, or do not have satellite systems, this means that they are dependent on countries with satellite systems. In the technique proposed in the present invention, simple infrastructure and product technologies that even undeveloped countries can easily realize are utilized. The reference sources specified in the present invention should be considered as the inventive counterpart of satellite systems required for GPS, which do not need constant renewal, that is, infrastructure, but it is much simpler and easier in terms of technological accessibility and adaptability. The frequency of reference sources, and where and how to place them is easy to calculate, scalable and open to optimization. Therefore, the present invention eliminates the dependence of underdeveloped or developing countries on developed countries in terms of satellite systems.
By positioning with the Global Positioning System, the RF (Radio Frequency) coverage area of the satellites at different building heights can remain in the shadow of the buildings. There are problems with urban use. This problem arising from the communication with the satellite has been solved by the optical signals in the present invention and the RF signals that are in the line of sight of the sensor placed directly on the vehicle.
Satellite scanning time is a problem in the Global Positioning System. This problem due to reasons such as seeing a sufficient number of satellites has been solved by the present invention. Since the marks or references placed in the present invention are in the field of view of the vehicle and the sensor simply needs to resolve that mark or reference or signal, there is no intolerable time such as scanning time.
The Earth Reference Navigation System is based on fixed landforms in a predetermined orbit. This system, which is mostly used for positioning outside the city, is not very suitable for the dynamically changing city pattern. In the solution we propose in the present invention, it is possible to use both in the city and outside the city. Also, the Earth Reference Navigation System is not applicable to land vehicles, but the present invention is applicable to all vehicles.
The Earth Reference Navigation System (or Terrain Referenced Navigation) needs precise radar height measurements. The sensors used, such as the altimeter, must be of sufficient sensitivity in this context. In addition, to define the city pattern or the terrain pattern, the vehicle must travel above a certain height. According to this system, where height information is constantly needed to find its location on the earth map, units such as optical sensors (the camera, etc.) and RF sensors (the radio, etc.) that only detect previously placed signs are used in the solution proposed in the present invention.
The use of the Earth Reference Navigation System is mostly based on natural landforms outside the city and there are problems with the use of this system in the city. This system, which is mostly used for positioning outside the city, reveals the need for continuous pattern updates for the dynamically changing city pattern. The system we propose in the present invention, on the other hand, is suitable for use both in the city and outside the city, it does not require reaching the current pattern or map at the end-user level.
The Earth Reference Navigation System is not usable for low-altitude aircraft and land vehicles. Contrary to this system, which tries to find location from the earth map with information such as altitude measurement, the system we propose in the present invention is applicable for all autonomous or non-autonomous air, land, sea, and space vehicles at any altitude.
The present invention can also be used in cases where the GPS and TRN are ineffective. While satellite signal-based systems may have problems in closed environments such as tunnels, the reference-based navigation system in the present invention can also be used in closed spaces such as tunnels.
Description of the Figures
Figure 1 - An example of a city pattern and a building that is complex and can cause problems such as shading
Figure 2 - Examples of optical and RF reference sources (which can also be referred to as beacons, traces, etc.), the structure in which these reference sources are placed, and a demonstration of a few examples of vehicles in which the invention can be used
Figure 3 - Example layout of optical and RF reference sources showing that optical and RF reference sources are on different structures in any settlement
Figure 4 - Example layout of optical and RF reference sources showing that optical and RF reference sources are on the same structure in any settlement
Figure 5 - Illustration of layout for optical and RF reference sources indoors or in tunnels like covered areas
Figure 6 - Illustration of layout for RF reference sources on any road
Figure 7 - Illustration of layout for optical reference sources on any path
Figure 8 - Village, mountain or island, etc. Example demonstration of the placement of optical and/or RF reference sources over a rural area
Figure 9 - Example functional block diagram for the invention
Figure 10 - Example functional flowchart for the invention
Description of the References in Figures
101: A building in a complex pattern city
102: Optical trace/mark/reference source 103: RF reference source
104: Driver/driverless/autonomous/semi-autonomous/non-autonomous land vehicle
105: Autonomous land vehicle
106: Aircraft/air vehicle with/without driver/autonomous/semi-autonomous/non- autonomous
107: Example of data/information contained in the reference (latitude, longitude, altitude, etc.)
108: Manned/unmanned, autonomous/semi-autonomous/a land/air/sea/space vehicle etc. vehicle
109: Sensor detecting data provided by RF reference source and/or optical reference sources
110: Data processor
111: The main computer/host of the vehicle to which the data interpreted by the data processor (110) is transmitted
112: Navigation device /unit / system
113: RF and/or optical reference sources
Description of the Invention
The present invention describes a navigation system that maintains its functionality both in a high-density complex pattern city (Figure 1) and on a low-density line, or a system that obtains the necessary data by analyzing the reference.
In the reference-based navigation system described in the present invention, these happen: The detection of at least one optical reference (102) source and/or RF reference source (103) that can be located on any structure, road/track, or reference vehicle and contains reference data, by an RF and/or optical sensor/detector (109) in the vehicle/car/system (108); processing and interpreting the reference data (latitude, longitude, altitude, unique address info, physical properties of the reference source, the known data about other references, etc.) and also the reference (itself) in the data processor (110), transferring the interpreted data to the relevant unit/system/devices (112), and performing navigation/positioning(global or spatial)/required data analysis/evaluation. Data analysis within the scope of this invention includes directly getting the data i.e., latitude, longitude, altitude, location, and address, which is already existing in the reference code (optically) or signal (RF-based). Moreover, the data analysis provides also the necessary information (position of the vehicle/system/unit using the invention, distance, and/or orientation from the reference source, etc.) that does not exist in the content of the data directly placed in the reference code or signal, but can be obtained through detectors/sensors (optically and/or RF-based) by the help of image processing and/or signal processing algorithms e.g., the ratio of the received signal to noise calculation, or the orientation approximation of the vehicle according to the intensity, frame size calculation. Together with these combinations of data provides a vehicle/system/device utilizing the mentioned invention to have global or spatial position data, unique address info, and navigation capability.
The optical reference source or the RF reference source used within the scope of the present invention can be positioned on any structure, for example, a building (101).
In an embodiment of the invention, mentioned optical reference source (102) and RF reference source (103) can be placed on;
• A low-rise building or a cafe, etc. (any detached structure),
• Road, street, boulevard, highway, etc. on a lighting pole, etc. (any unit such as lamppost, guardrail, sign, lighting pole, traffic light) on any route that is followed or traced,
• Not open areas such as tunnels,
• Routes outside the settlements (land, village, mountain, etc.)
• In rural or low-density settlements (villages, etc.), an electric pole, etc. (any unit such as a lighting pole, guardrail, sign, lighting pole, or traffic light).
Figure 2 presents, as an example, candidate locations of reference sources around any building (101) and vehicles that make use of these reference sources or in which the invention can be used.
For example (a partially described and simplified from the present invention’s whole coverage for understandability); an optical reference includes the information of “45.62971”, “25.71629”, 13.0 (latitude longitude height), and of 70, 60, 5, 01.22, 4, T102, data_matrix, 2B (width, length, thickness, depth, restoration date, neighbor_reference_count_in_100mR, standard, code type, code length) placed on the second floor wall of a building. In this example, the reference data includes 25, 52, 75 latitude, longitude and altitude information of the building, and the physical properties of the optical reference, and other information. However, this alone is not enough (the reference data provides the global or spatial position of the reference source, but to solve the vehicle/system/missile/device’s global or spatial position we have to have more data). Thus, we need to use the reference itself together with the reference data. The reference (source) itself may be a data matrix. The latitude/longitude/height of the building and the physical information of the data matrix and other information are taken from the reference data (by image processing processes/algorithms/tools), together with this information, the reference itself is resolved as a picture by image processing processes/algorithms/tools, and the position of the vehicle/device where the present invention’s sensor and processor side is located (ex: 45,571629, 25,629571, 13.3) is obtained. We can expand this example to RF reference also, similarly. Briefly, to get positioning data on a vehicle/device/systems, the reference data and the reference itself is processed in fusion by signal processing algorithms/tools. We can use separately or with together these sources also. The examples mentioned in the description does not limit the scope of the claims
The invention is based on reference sources containing necessary data/information. The system makes global and spatial positioning of the vehicle by using data integrated into reference sources and by using reference source itself. The reference source itself is an image/mark for optical reference sources, and/or an RF signal for RF reference sources. The optical and RF reference sources can be used separately or simultaneously.
The system detects at least one optical trace/reference source (102) and/or RF reference source (103) containing reference data and reference source itself by an active or passive RF and/or optical sensor (109) in a vehicle (108) or a device. By processing and interpreting unique address information, latitude/longitude/altitude information coming from the optical trace/reference source (102) and/or RF reference source (103), and position information obtained from the reference data and the reference source itself by image processing and/or signal processing algorithms in the data processor (110). Global and/or spatial position of the vehicle and/or address resolution and/or navigation (112) of the vehicle is performed.
Reference data/information in the present invention: It includes global or spatial position, longitude, latitude, altitude, physical information (characteristics and specifications for the RF signal or Optical Mark/Image, placement, location and dimensional information, type and compatible standards information) of the reference source, and unique address information and data/information required for positioning and navigation. The coordinate axes of the aforementioned data/information required for navigation can be pinned to a global origin or an arbitrary origin in space. Furthermore, any coordinate system instead of latitude-longitude-altitude can be used within the scope of the proposed invention. Reference (source) itself corresponds an image/mark for the optical reference source and an RF signal for the RF reference source. Present invention provides global or spatial positioning for the vehicle/device/system that benefits from the invention is obtained by analyzing the reference data and the reference itself as mentioned above. The analysis employs signal processing and/or image processing (algorithms) by using images and/or RF signals of the reference(s) together with the reference data attached to the reference(s) to obtain Global or spatial positioning for the vehicle/device/system that benefits from the invention to provide navigation support. In this way, there is no need to physically pass over the reference source or provide navigation dependent on techniques such as mapping. Signal processing mainly includes frequency translation, filtering, amplification, conversion, digital processing. Signal processing and RF signal processing algorithms, in the present invention, utilizing the reference data, reference itself and also other signals (for triangulation) for spatial or global positioning, address finding, and navigation. Image processing mainly includes acquisition, image filtering, enhancement, transformations, decoding, and restoration. Image processing, in the present invention, utilizing the reference data, reference itself and also other images/marks for spatial or global positioning, address finding, and navigation. Reference sources operate based on optical or radio frequency technologies. The reference representations (data code/RF wave) in Figure 2 and all other figures in the description are presented as examples to explain the invention. These references are subject to change. For example, in the present invention, another standard code/mark/sign or a non-standard code/mark/sign can be used instead of the data matrix. In addition, active optical signals (e.g., laser signal) or passive codes/marks/signs/signals can also be used. The waveform of the RF signal of an RF-based reference source that can be placed on a building may also differ. These configurations provide the scalability capability for the presented invention.
Any driver-requiring (104) or autonomous land vehicle (105) can use the data/information provided from reference sources (107) to find its location or to get any necessary data/information using the system described in the present invention. In addition, it is required for navigation/guidance/autopilot/other by an autonomous/semi- autonomous/non-autonomous aircraft (106) or land vehicle (104) or any vehicle (sea, submarine, spacecraft, etc.) data/information (if positioning with latitude-longitude-height, if a different coordinate axis is defined, data according to this axis, unique address description, routing information for closed areas, etc.) can be provided by the use of this reference-based navigation system.
Latitude and longitude information can be placed in the QR code (example), which is one of the mentioned optical or RF reference sources, to analyze the location data on the earth. As the data/information required for navigation/autopilot/guidance/other within the scope of the present invention can be provided by reference sources, the design of reference sources can be shaped to provide this data/information. The data/information herein does not necessarily have to be a predefined standard (such as a QR/matrix code).
The invention is also functional in a less complex settlement compared to the exemplary city pattern in Figure 1. For example, in a representative residential area with detached buildings, cafes, and restaurants, optical reference sources (102) can be placed above a restaurant, or optical (102) and/or RF (103) reference sources can be placed on a lamppost or lighting pole (Figure 3).
In the application of the invention, RF and optical references can be located in a different unit or structure, or they can be found on a single structure or unit. It is possible to have different types of reference sources on the same structure or unit. For example, on a lamppost, both optical (102) and RF (103) references can be found simultaneously (Figure 4)
The present invention can also be used in tunnels where GPS and TRN cannot be used. Optical (102) or RF (103) reference sources can be placed on existing structures/units such as lighting poles in the tunnels in question, or a separate structure/unit can be placed for the reference source. Reference sources can also be placed on tunnel walls, ceilings, or anywhere along the tunnel (road, etc.) (Figure 5).
Examples of RF reference sources (103) and optical reference sources (102) placed on routes such as land, villages, and mountains outside the settlements can be used. A unit or structure can be placed for the reference resource, or it can be used by placing the reference resource on any accessible existing unit or structure.
Optical reference (QR code etc.) source (102) and/or RF reference source (103) on a structure (any unit such as lamppost, lighting pole, guardrail, sign, lighting pole, traffic light) in rural or low-density settlements. ) can be inserted. The specified reference sources can be placed on a village house or any structure, a unit or structure can be placed for the reference source, they can also be placed on an existing structure or unit, and more than one type of reference source can be located on a unit or structure (Figure 8).
In the current reference-based navigation system, the RF Reference source (103) is a reference source that provides the necessary data/information (navigation information, address information, location information, latitude/longitude information, unique identification information, etc.) with radio frequency waves. If the optical trace/reference source is (102); it is a reference source that provides the necessary data/information (navigation information, address information, location information, latitude/longitude information, unique identification information, etc.) with optical references. The optical reference can be active and/or passive. It is envisaged that methods such as laser signal emitters can be used for the active reference source. It is recommended to use optical references such as a data matrix for a passive reference source. The optical reference here can be any different sign instead of the data matrix, it may be preferred depending on the reference information/data. The optical code/sign/trace can be passively placed on any structure or unit (for example, on a relatively fixed-position vehicle in the air or on a reference beacon). A structure that receives data/information from reference sources is also within the scope of the invention. This structure can be inside a vehicle (108) or outside the vehicle.
RF and/or optical sensors/detectors (109); are units that perceive data provided by reference sources. There can be multiple sensors for multiple types of reference at the same time or one sensor for any reference source. Optical sensors can be active or passive sensors depending on the preferred optical reference source. Active sensors are sensors that analyze the data/information in the passive reference source. Vehicle cameras, which are currently widely used at the end-user level, can be given as an example of active sensors. The relevant data/information in the QR code given as an example by these cameras can be easily analyzed. Passive sensors, on the other hand, decode the data/information provided from the active reference source (for example, a unit that analyzes the signal from a reference source emitting an active laser signal). The data processor (110) analyzes the data received by the sensor(s) (109) and transfers it to the relevant vehicle or device. The vehicle in question (108) here refers to any manned land/air/sea/space vehicle. This vehicle can be autonomous, semi-autonomous, non-autonomous, or driver-driven. The use of the invention by marine vessels is possible by positioning the reference sources above the sea or in the air. For example, if reference sources are placed on pontoons or fixed platforms placed on the sea, or by the use of aircraft such as balloons carrying reference sources, the necessary data will be provided to the said sea vehicle by using the invention by sea vehicles. Similarly, reference sources can be placed under the sea by stationary vehicles/structures/units or platforms, as well as reference sources stationary on water, and the necessary data/information for guidance/navigation/autopilot/other can be provided by submarine vehicles. Use of the invention by spacecraft may be provided by reference sources prelocated or orbiting space waypoints.
In another application of the invention, instead of the vehicle (108), it can be a device that can detect the RF and/or optical reference sources placed and provide guidance, especially in closed areas. The indoor environment here is areas with a fixed or mobile roof or roof (including tents, sunshades, etc.), whose side surfaces are completely closed, temporarily or permanently, except for doors, windows, and entry ways; Likewise, they are places that have a ceiling or roof and more than half of their side surfaces are closed.
In another application of the present invention, the said reference-based navigation system can also provide the necessary data/information (such as the booth to be visited at the fair, a road for the visually impaired, orientation to the store in the mall) to a device by a device (such as glasses, visually impaired walking stick, headband) in a closed place (such as shopping malls, mines, fairs). The invention may also be used for these purposes. In such an application, the device takes the place of the vehicle. Reference sources are placed on lines, shop windows, signs, railings, and also structures or units within the indoor space, rather than structures or units. The sensor/detector and Tenderer functions are on the device, the device can be carried by a human or integrated into a vehicle carried by a human, or placed in an article.
An example illustration of the functional flow of the present invention is given in Figure 10. Accordingly, the system has 2 different basic elements. One of them is the source (113) and the other is the tool (108) (or device). The source is the element that provides the reference and that reference contains the necessary data/information. It can be active or passive. The vehicle (or device) receives the necessary data/information from reference sources through sensors. The required data/information (data from reference sources) received by the optical sensor (109) in the vehicle is interrogated, if there is any data/information source other than the invention (if there is any data source such as GPS, TRNS, SLAM, VO). And then the reference data/information is passed to the data processor 110. The data processor (110); it combines both the reference data/information provided by the system described in the invention and the data/information from other systems, if any, interpreting them and transmitting them to the relevant units. These units may be interchangeable, not a unit inside the vehicle but may be a solid unit or maybe a device. But within the scope of the example explanation, a vehicle's main computer (111) or any controller, processor, etc. Meaningful data/information can be transmitted. In this way, the vehicle uses meaningful data for guidance/autopilot/navigation and other purposes. Likewise, meaningful data can be transmitted to the navigation unit (112). The navigation unit here; is the navigation system, device, or unit.
Industrial Applicability of the Invention The present invention describes a navigation system that can be used by all vehicles and devices. The navigation system of the present invention can be used by all countries and their citizens. It is designed to replace such a system based on the satellite systems of developed countries like GPS. The present invention can be used alone, as a supplement to existing navigation systems, or adapted to replace these systems.

Claims

1. A reference-based navigation system comprises;
• a reference source containing a reference data,
• a reference source itself,
• a sensor in a vehicle or a device,
• a data processor (110) characterized in that the system comprises an optical track/source (102) and/or RF reference source (103) placed on a building, road/route or reference vehicle, building, traffic light, traffic sign, lighting pole, board, village house, mountain, lamppost, guardrail, low-rise building or a cafe, road, street, boulevard, highway route, tunnel or non-open areas, non-residential lands or routes, shop windows, reference marking balloon, pontoons or fixed platforms placed above the sea, space waypoints, vehicles located on a specified orbit in space, a reference data in the reference sources containing latitude, longitude, altitude, unique address information, and physical properties of the reference source, and the known data about other references, a reference source itself which is an image/mark for optical reference sources, and/or an RF signal for RF reference sources, an active or passive RF and/or optical sensor (109) configured to sense the reference data inside the optical trace/mark/reference source (102) and/or RF reference source (103), and sense the reference mark/image and/or signal a data processor (110) configured to a vehicle to process and interpret the data an image processing and/or signal processing algorithms configured to provide global and/or spatial positioning and/or navigation of the vehicle or device through reference source (itself) and reference data.
2. The reference-based navigation system according to claim 1, characterized in that the vehicle (108) is autonomous or semi-autonomous or non-autonomous, with or without a driver, land or air or sea or submarine or spacecraft.
3. A method of operation of a reference-based navigation system characterized by the sequential steps of; - Detecting at least one optical trace/reference source (102) and/or RF reference source (103) containing reference data by an active or passive RF and/or optical sensor (109) in a vehicle (108) or a device, processing and interpreting unique address information, latitude/longitude/altitude information, reference source physical properties, other reference information coming from the optical mark/trace/reference source (102) and/or RF reference source (103), and position information, or/and navigation data obtained from the reference data and the reference source itself by image processing and/or signal processing algorithms in the data processor (110),
- transferring of interpreted data to the relevant unit/system/devices
- global and/or spatial positioning of the vehicle and/or address resolution and/or navigation (112) of the vehicle or device.
PCT/IB2022/059738 2021-10-11 2022-10-11 Reference based positioning system WO2023062532A1 (en)

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