CA2893717C - Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement - Google Patents

Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement Download PDF

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Publication number
CA2893717C
CA2893717C CA2893717A CA2893717A CA2893717C CA 2893717 C CA2893717 C CA 2893717C CA 2893717 A CA2893717 A CA 2893717A CA 2893717 A CA2893717 A CA 2893717A CA 2893717 C CA2893717 C CA 2893717C
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CA
Canada
Prior art keywords
location information
navigation
positioning
gnss
inertial
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CA2893717A
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English (en)
Other versions
CA2893717A1 (fr
Inventor
Kristian Morin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Novatel Inc
Original Assignee
Novatel 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 Novatel Inc filed Critical Novatel Inc
Priority to CA2893717A priority Critical patent/CA2893717C/fr
Publication of CA2893717A1 publication Critical patent/CA2893717A1/fr
Application granted granted Critical
Publication of CA2893717C publication Critical patent/CA2893717C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • G01S19/49—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 inertial position system, e.g. loosely-coupled
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

Un système et un procédé daugmentation de capacité dun système GNSS/INS au moyen dun système de vision sont décrits. Le système GNSS génère des informations de position de GNSS et le système INS génère des informations de position inertielle. Le système de vision génère en outre des informations de position de système de vision qui sont utilisées en tant quentrée dans un module de correction derreur. Le module de correction derreur délivre des informations dajustement demplacement inertiel qui sont utilisées pour mettre à jour les informations demplacement du système inertiel.
CA2893717A 2015-06-03 2015-06-03 Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement Active CA2893717C (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA2893717A CA2893717C (fr) 2015-06-03 2015-06-03 Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CA2893717A CA2893717C (fr) 2015-06-03 2015-06-03 Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement

Publications (2)

Publication Number Publication Date
CA2893717A1 CA2893717A1 (fr) 2016-12-03
CA2893717C true CA2893717C (fr) 2021-06-15

Family

ID=57406846

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2893717A Active CA2893717C (fr) 2015-06-03 2015-06-03 Methode d'utilisation d'images partiellement cachees a des fins de navigation et de positionnement

Country Status (1)

Country Link
CA (1) CA2893717C (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112256027B (zh) * 2020-10-15 2024-04-05 珠海一微半导体股份有限公司 一种机器人基于视觉角度纠正惯性角度的导航方法
CN116540286B (zh) * 2023-07-06 2023-08-29 中国科学院空天信息创新研究院 基于非完整性约束的多源鲁棒融合定位方法

Also Published As

Publication number Publication date
CA2893717A1 (fr) 2016-12-03

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