JP5285299B2 - 相関位置決定 - Google Patents
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- JP5285299B2 JP5285299B2 JP2008042953A JP2008042953A JP5285299B2 JP 5285299 B2 JP5285299 B2 JP 5285299B2 JP 2008042953 A JP2008042953 A JP 2008042953A JP 2008042953 A JP2008042953 A JP 2008042953A JP 5285299 B2 JP5285299 B2 JP 5285299B2
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- 238000000034 method Methods 0.000 claims abstract description 59
- 230000008569 process Effects 0.000 claims description 20
- 230000002596 correlated effect Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 description 31
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- 230000006872 improvement Effects 0.000 description 4
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- 238000012360 testing method Methods 0.000 description 3
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- 238000003384 imaging method Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
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- 230000003252 repetitive effect Effects 0.000 description 1
- 238000012958 reprocessing Methods 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
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- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
- G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for 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
- 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
-
- 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
-
- 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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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)
- Aviation & Aerospace Engineering (AREA)
- Navigation (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
Meas[1−36];走査サンプル
For a=10 to 360 by 10
sum=sum+1
Delt=Map(a/10)−Meas(a/10)
If(sector size/2>abs(Delt)>sector size)then Delt=0 and sum=sum−1
Dx=Delt*sin(a)
Dy=Delt*cos(a)
Xerror=Dx+Xerror
Yerror=Dy+Yerror
End for
Xerror=2*Xerror/sum
Yerror=2*Yerror/sum
解の改善を得るために、XerrorおよびYerrorが、初期x、y位置に追加される。
102 プロセッサ
104 シーンデータベース
106 レンジングデバイス、360度レーザイメージングおよびレンジングデバイス(LIDAR)デバイス
108 全地球測位システム(GPS)センサ
110 慣性センサ
112 向首方位センサ
114 速度センサ
116 高度計センサ
206 経路
207 車両
208 位置検出システム
209 回転スピンドル
312 測定された距離、選択距離
313 測定された距離
430 現在推定された位置、セクタ
432 相関評価領域、セクタ
700 プロセッサ機能
704 選択された走査記録、シーンシーケンス
706 角度シフト
708 現在の走査シーケンス記録、ハードウェア
709 相関システム
710 新しい走査記録、ハードウェア
712 弁別器、ハードウェア
714 正規化デバイス、ハードウェア
Claims (4)
- 選択区域内において相関を使用して車両を自動的にナビゲートする方法であって、
前記車両が前記選択区域全体にわたって最初に横断する間に、レンジングデバイスにより360度の距離走査を実行するステップと、
対象物までの距離および対象物に対する関連する角度を再構築するために必要な前記距離走査からデータを収集するステップと、
対象物の推定位置を識別するマップとして統計的精度情報と共にシーンデータベースに前記データを記憶するステップと、
前記選択区域全体にわたって前記車両により続けて横断する間に、現在の前記対象物までの距離および前記対象物に対する関連する角度を前記レンジングデバイスにより測定するステップと、
前記現在の前記対象物までの距離および前記対象物に対する関連する角度を、プロセッサにより、前記記憶しているデータから再構築された前記対象物までの距離および前記対象物に対する関連する角度に相関付けるステップと、
前記選択区域内における現在の位置推定値および向首方位推定値の少なくともひとつを、前記プロセッサにより、前記相関された距離および角度の少なくとも一部に基づいて決定するステップと、
前記現在の位置推定値および向首方位推定値の前記少なくともひとつを、ナビゲーションに使用するステップと、
を含む方法。 - 前記向首方位推定値の精度を向上させ且つ最大360度の角度を走査するために、分割された角度の増分ごとに測定するステップをさらに含む、請求項1に記載の方法。
- 前記車両が前記選択区域全体にわたって最初に横断する間に、レンジングデバイスにより前記対象物に対する距離ならびにピッチ、ロールおよびヨーからなる関連する姿勢方位角を再構築するために必要なデータを収集するステップと、
前記対象物の推定位置を識別するマップとしてシーンデータベースに前記データを記憶するステップと、
前記選択区域全体にわたって前記車両により続けて横断する間に、前記対象物に対する現在の距離ならびにピッチ、ロールおよびヨーからなる関連する姿勢方位角を前記レンジングデバイスにより測定するステップと、
前記対象物に対する前記その時現在の距離ならびにピッチ、ロールおよびヨーからなる関連する姿勢方位角を、プロセッサにより、前記記憶しているデータから再構築された前記対象物に対する距離ならびにピッチ、ロールおよびヨーからなる関連する姿勢方位角に相関付けるステップと、
前記選択区画内における現在の3D位置および姿勢推定値を、前記プロセッサにより、前記相関された距離および角度の少なくとも一部に基づいて決定するステップと
をさらに含む、請求項1に記載の方法。 - 車両を自動的にナビゲートするシステムであって、
レンジングデバイスと、
前記レンジングデバイスに動作的に結合されてプロセス用の命令を実行するように構成されたプロセッサと、
前記プロセスは、
前記車両が前記選択区域全体にわたって最初に横断する間に、レンジングデバイスにより360度の距離走査を実行するステップと、
対象物までの距離および対象物に対する関連する角度を再構築するために必要な前記距離走査からデータを収集するステップと、
対象物の推定位置を識別するマップとして統計的精度情報と共にシーンデータベースに前記データを記憶するステップと、
前記選択区域全体にわたって前記車両により続けて横断する間に、現在の前記対象物までの距離および前記対象物に対する関連する角度を前記レンジングデバイスにより測定するステップと、
前記現在の前記対象物までの距離および前記対象物に対する関連する角度を、前記記憶しているデータから再構築された前記対象物までの距離および前記対象物に対する関連する角度に相関付けるステップと、
前記選択区域内における現在の位置推定値および向首方位推定値の少なくともひとつを、前記相関された距離および角度の少なくとも一部に基づいて決定するステップと、
前記現在の位置推定値および向首方位推定値の前記少なくともひとつを、ナビゲーションに使用するステップと、を含む、
システム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/678,313 US8554478B2 (en) | 2007-02-23 | 2007-02-23 | Correlation position determination |
US11/678,313 | 2007-02-23 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008209413A JP2008209413A (ja) | 2008-09-11 |
JP5285299B2 true JP5285299B2 (ja) | 2013-09-11 |
Family
ID=39356675
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2008042953A Expired - Fee Related JP5285299B2 (ja) | 2007-02-23 | 2008-02-25 | 相関位置決定 |
Country Status (3)
Country | Link |
---|---|
US (2) | US8554478B2 (ja) |
EP (1) | EP1962162B1 (ja) |
JP (1) | JP5285299B2 (ja) |
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