BR112018015744A2 - alinhamento de quadros de referência de odometria inercial e sistema de posicionamento por satélite - Google Patents

alinhamento de quadros de referência de odometria inercial e sistema de posicionamento por satélite

Info

Publication number
BR112018015744A2
BR112018015744A2 BR112018015744A BR112018015744A BR112018015744A2 BR 112018015744 A2 BR112018015744 A2 BR 112018015744A2 BR 112018015744 A BR112018015744 A BR 112018015744A BR 112018015744 A BR112018015744 A BR 112018015744A BR 112018015744 A2 BR112018015744 A2 BR 112018015744A2
Authority
BR
Brazil
Prior art keywords
reference frame
measurements
satellite positioning
positioning system
sps
Prior art date
Application number
BR112018015744A
Other languages
English (en)
Inventor
Jose Jubin
Jacques Garin Lionel
Niesen Urs
Nallampatti Ekambaram Venkatesan
Wu Xinzhou
Original Assignee
Qualcomm Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qualcomm Inc filed Critical Qualcomm Inc
Publication of BR112018015744A2 publication Critical patent/BR112018015744A2/pt

Links

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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/52—Determining velocity
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • 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
    • G01S5/163—Determination of attitude

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

um método para alinhar quadros de referência de odometria visual-inercial (vio) e de sistema de posicionamento por satélite (sps) inclui obter uma série de medições de alcance-taxa de uma plataforma móvel de um sps. as medições de alcance-taxa são com relação a um quadro de referência global do sps. o método inclui também obter uma série de medições de velocidade vio da plataforma móvel de um sistema vio. as medições de velocidade vio são com relação a um quadro de referência local do sistema vio. pelo menos um parâmetro de orientação é então determinado para alinhar o quadro de referência local com o quadro de referência global com base nas medições de alcance-taxa e nas medições de velocidade vio.
BR112018015744A 2016-02-02 2017-01-20 alinhamento de quadros de referência de odometria inercial e sistema de posicionamento por satélite BR112018015744A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/014,004 US10132933B2 (en) 2016-02-02 2016-02-02 Alignment of visual inertial odometry and satellite positioning system reference frames
PCT/US2017/014344 WO2017136161A1 (en) 2016-02-02 2017-01-20 Alignment of visual inertial odometry and satellite positioning system reference frames

Publications (1)

Publication Number Publication Date
BR112018015744A2 true BR112018015744A2 (pt) 2019-01-08

Family

ID=57956415

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112018015744A BR112018015744A2 (pt) 2016-02-02 2017-01-20 alinhamento de quadros de referência de odometria inercial e sistema de posicionamento por satélite

Country Status (7)

Country Link
US (1) US10132933B2 (pt)
EP (1) EP3411732B1 (pt)
JP (1) JP6965253B2 (pt)
KR (1) KR20180108629A (pt)
CN (1) CN108496096B (pt)
BR (1) BR112018015744A2 (pt)
WO (1) WO2017136161A1 (pt)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10324195B2 (en) * 2015-07-27 2019-06-18 Qualcomm Incorporated Visual inertial odometry attitude drift calibration
US10849134B2 (en) 2016-11-04 2020-11-24 Qualcomm Incorporated Indicating a range of beam correspondence in a wireless node
US10267924B2 (en) * 2017-01-04 2019-04-23 Qualcomm Incorporated Systems and methods for using a sliding window of global positioning epochs in visual-inertial odometry
US10859713B2 (en) * 2017-01-04 2020-12-08 Qualcomm Incorporated Position-window extension for GNSS and visual-inertial-odometry (VIO) fusion
CN111278688B (zh) * 2017-11-03 2022-09-20 黑拉有限责任两合公司 驱动车辆的部件的方法、系统、计算机程序产品和计算机可读介质
US20190301871A1 (en) * 2018-03-27 2019-10-03 Artisense Corporation Direct Sparse Visual-Inertial Odometry Using Dynamic Marginalization
WO2019203677A1 (en) * 2018-04-18 2019-10-24 Limited Liability Company "Topcon Positioning Systems" Attitude determination with multiple antennas using semi-definite programming relaxation
US10636190B2 (en) 2018-05-31 2020-04-28 Robert Bosch Gmbh Methods and systems for exploiting per-pixel motion conflicts to extract primary and secondary motions in augmented reality systems
CN109540126B (zh) * 2018-12-03 2020-06-30 哈尔滨工业大学 一种基于光流法的惯性视觉组合导航方法
CN109917644B (zh) * 2018-12-26 2022-06-14 达闼科技（北京）有限公司 一种提高视觉惯导系统鲁棒性的方法、装置和机器人设备
CN110874569B (zh) * 2019-10-12 2022-04-22 西安交通大学 一种基于视觉惯性融合的无人机状态参数初始化方法
CN116381760B (zh) * 2023-06-05 2023-08-15 之江实验室 Gnss rtk/ins紧耦合定位方法、装置及介质
CN116718153B (zh) * 2023-08-07 2023-10-27 成都云智北斗科技有限公司 一种基于gnss和ins的形变监测方法及系统

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4402049A (en) * 1981-03-23 1983-08-30 The United States Of America As Represented By The Secretary Of The Army Hybrid velocity derived heading reference system
US5672872A (en) * 1996-03-19 1997-09-30 Hughes Electronics FLIR boresight alignment
US5894323A (en) * 1996-03-22 1999-04-13 Tasc, Inc, Airborne imaging system using global positioning system (GPS) and inertial measurement unit (IMU) data
JP3776094B2 (ja) * 2002-05-09 2006-05-17 松下電器産業株式会社 監視装置、監視方法および監視用プログラム
JP2004177362A (ja) * 2002-11-29 2004-06-24 Nippon Telegr & Teleph Corp <Ntt> 位置計測方法、位置計測装置、位置計測方法のプログラム、およびこのプログラムを記録した記録媒体
US7346452B2 (en) * 2003-09-05 2008-03-18 Novatel, Inc. Inertial GPS navigation system using injected alignment data for the inertial system
JP2008066953A (ja) * 2006-09-06 2008-03-21 Sanyo Electric Co Ltd 画像監視装置
JP2008217330A (ja) * 2007-03-02 2008-09-18 Kobe Univ 速度推定方法および速度推定プログラム
JP2011508190A (ja) * 2007-12-11 2011-03-10 クゥアルコム・インコーポレイテッド カメラ支援を伴うｇｎｓｓ方法及び受信機
JP2009168614A (ja) * 2008-01-16 2009-07-30 Alpine Electronics Inc 車載用ナビゲーション装置
US9766074B2 (en) 2008-03-28 2017-09-19 Regents Of The University Of Minnesota Vision-aided inertial navigation
WO2010088290A1 (en) * 2009-01-27 2010-08-05 Arthur Thomas D Tight optical intergation (toi) of images with gps range measurements
US8855929B2 (en) * 2010-01-18 2014-10-07 Qualcomm Incorporated Using object to align and calibrate inertial navigation system
CN101949715B (zh) * 2010-08-10 2012-06-20 武汉武大卓越科技有限责任公司 高精度时空数据获取的多传感器集成同步控制方法和系统
US9160980B2 (en) * 2011-01-11 2015-10-13 Qualcomm Incorporated Camera-based inertial sensor alignment for PND
CN102538781B (zh) * 2011-12-14 2014-12-17 浙江大学 基于机器视觉和惯导融合的移动机器人运动姿态估计方法
US9031782B1 (en) * 2012-01-23 2015-05-12 The United States Of America As Represented By The Secretary Of The Navy System to use digital cameras and other sensors in navigation
JP6008510B2 (ja) 2012-02-20 2016-10-19 株式会社小野測器 計測装置及び計測方法
CN103424114B (zh) * 2012-05-22 2016-01-20 同济大学 一种视觉导航/惯性导航的全组合方法
JP2015532077A (ja) * 2012-09-27 2015-11-05 メタイオ ゲゼルシャフト ミット ベシュレンクテル ハフツングｍｅｔａｉｏ ＧｍｂＨ 少なくとも１つの画像を撮影する撮影装置に関連する装置の位置及び方向の決定方法
US9377519B2 (en) * 2013-03-12 2016-06-28 Qualcomm Incorporated Server-based mobile device regional candidate position fix mode selection
US20140267686A1 (en) * 2013-03-15 2014-09-18 Novatel Inc. System and method for augmenting a gnss/ins navigation system of a low dynamic vessel using a vision system
US9957692B2 (en) * 2013-03-15 2018-05-01 Hexagon Technology Center Gmbh System and method for heavy equipment navigation and working edge positioning using an image acquisition device that provides distance information
CN103438906B (zh) * 2013-09-10 2016-06-01 上海海事大学 适用于机器人导航的视觉与卫星定位传感器联合校准方法
US20150092048A1 (en) * 2013-09-27 2015-04-02 Qualcomm Incorporated Off-Target Tracking Using Feature Aiding in the Context of Inertial Navigation
US20170102467A1 (en) 2013-11-20 2017-04-13 Certusview Technologies, Llc Systems, methods, and apparatus for tracking an object
EP3754381A1 (en) * 2013-12-10 2020-12-23 SZ DJI Technology Co., Ltd. Sensor fusion
US20150219767A1 (en) 2014-02-03 2015-08-06 Board Of Regents, The University Of Texas System System and method for using global navigation satellite system (gnss) navigation and visual navigation to recover absolute position and attitude without any prior association of visual features with known coordinates
US9435651B2 (en) * 2014-06-04 2016-09-06 Hexagon Technology Center Gmbh System and method for augmenting a GNSS/INS navigation system in a cargo port environment
JP6380550B2 (ja) * 2014-11-14 2018-08-29 日産自動車株式会社 表示装置及び表示方法
CN104729506B (zh) * 2015-03-27 2017-11-14 北京航空航天大学 一种视觉信息辅助的无人机自主导航定位方法
CN104848867B (zh) * 2015-05-13 2017-12-08 北京工业大学 基于视觉筛选的无人驾驶汽车组合导航方法

Also Published As

Publication number Publication date
JP6965253B2 (ja) 2021-11-10
US10132933B2 (en) 2018-11-20
US20170219717A1 (en) 2017-08-03
JP2019509475A (ja) 2019-04-04
WO2017136161A1 (en) 2017-08-10
EP3411732B1 (en) 2021-07-28
CN108496096A (zh) 2018-09-04
CN108496096B (zh) 2022-06-10
KR20180108629A (ko) 2018-10-04
EP3411732A1 (en) 2018-12-12

Similar Documents

Publication Publication Date Title
BR112018015744A2 (pt) alinhamento de quadros de referência de odometria inercial e sistema de posicionamento por satélite
IL265158A (en) Method, system and software for navigation in environments denied access to a global positioning system
DK3538965T3 (da) Sikkerhedssystem til drift af et ubemandet luftfartøj
UY37758A (es) Método de fabricación de anticuerpos biespecíficos, anticuerpos biespecíficos y uso terapéutico de dichos anticuerpos
BR112014026999A2 (pt) dispositivo de comunicação móvel e método do mesmo
GB2559719A (en) Maintaining privacy in location-based operations
BR112017001574A2 (pt) rastreamento de distância do dispositivo móvel
BR112017024164A2 (pt) aparelho, sistema e método de determinação de um ou mais parâmetros óticos de uma lente
MX350053B (es) Metodo y aparato de posicionamiento y navegacion.
DK3430758T3 (da) Fælles søgeområde (CSS) til paging af NB-IOT-indretninger
RU2015111848A (ru) Уменьшенные сетевой поток и вычислительная нагрузка с использованием средства динамического пространственного и временного планирования
EA201800569A1 (ru) Система и способ для измерения рельсового пути
BR112013027005A2 (pt) método e sistema para compartilhar e utilizar informação de localização em um terminal portátil
WO2014138142A3 (en) Method and apparatus for enabling the use of global navigation satellite system (gnss) signals indoors
BR112014005130A2 (pt) método e sistema para recalibragem de sensor
BR112018004474A2 (pt) posicionamento de e911 por intermédio de rastreamento de sinal de fundo
BR112022002631A2 (pt) Sistemas e métodos para localização de objetos
BR112016028569A2 (pt) ?sistema de segurança para uma aeronave e método de comunicação utilizando o sistema de segurança?
MX2015017975A (es) Direcciones de sistema de posicionamiento global (gps) de tipo humano.
MY189316A (en) A system and method for detecting global positioning system anomalies
WO2015148556A3 (en) Techniques for augmenting gps-based navigation via light-based communication
BR112018012920A2 (pt) método para determinar uma referência temporal e/ou pelo menos uma referência espacial em um sistema de comunicação
FR3037511B1 (fr) Dispositif de revetement d&#39;un carter annulaire de turbomachine
EA201692229A1 (ru) Способ точного позиционирования
EP3539307A4 (en) FOG-BASED INTERNET-THE-THINGS (IOT) PLATFORM FOR REAL-TIME DETECTION SYSTEM (RTLS)

Legal Events

Date Code Title Description
B350 Update of information on the portal [chapter 15.35 patent gazette]
B08F Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette]

Free format text: REFERENTE A 5A ANUIDADE.

B08K Patent lapsed as no evidence of payment of the annual fee has been furnished to inpi [chapter 8.11 patent gazette]

Free format text: EM VIRTUDE DO ARQUIVAMENTO PUBLICADO NA RPI 2654 DE 16-11-2021 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDO O ARQUIVAMENTO DO PEDIDO DE PATENTE, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013.