WO2005119178A1 - Image-augmented inertial navigation system (iains) and method - Google Patents
Image-augmented inertial navigation system (iains) and method Download PDFInfo
- Publication number
- WO2005119178A1 WO2005119178A1 PCT/US2005/019411 US2005019411W WO2005119178A1 WO 2005119178 A1 WO2005119178 A1 WO 2005119178A1 US 2005019411 W US2005019411 W US 2005019411W WO 2005119178 A1 WO2005119178 A1 WO 2005119178A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- imager
- navigation system
- inertial navigation
- terrain features
- view
- Prior art date
Links
Classifications
-
- 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
- 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
- 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
Definitions
- the present disclosure relates to systems and methods for navigating a vehicle.
- the present disclosure relates to an image-augmented inertial navigation system and method for a vehicle.
- the general methodology of a loosely-coupled inertial navigation system implements two steps for determining estimates of the navigation state vector of a body: (1 ) propagation of the navigation state vector via numerical (or other) integration of sensed accelerations and rates of the body, and (2) updates (or corrections) to the navigation state vector using external aiding sources.
- the external aiding source may be one or more of a wide variety of sources, the most common being satellite based navigation systems such as, for example, the USA's global positioning system (GPS).
- GPS global positioning system
- Such INS solutions are used for vehicle navigation, whether they are ground, air, space, or sea going vehicles. Sometimes, however, external aiding sources, such as GPS may become unavailable due to various reasons.
- GPS may be jammed or may become unavailable due to location.
- One possible way to overcome the unavailability of external aiding sources such as GPS includes traditional navigation by image processing.
- Traditional navigation by image processing registers the location of a newly detected image with respect to a known, stored image.
- NED North, East, and Down
- Such image based geo-registration typically requires, however, a very powerful computer processing unit (CPU) since real-time geo-registration is very CPU intensive. Use of a very powerful CPU may be prohibitively expensive or may require space unavailable for certain applications.
- CPU computer processing unit
- the invention includes an image-augmented inertial navigation system including an inertial navigation system configured to estimate a navigation state vector and an imager configured to output pixel signals associated with terrain features passing through a field view of the imager.
- the system further includes a processing unit operatively connected to the inertial navigation system and the imager.
- the processing unit is configured to determine a distance from the imager to a centroid of one or more of the terrain features passing through the field of view of the imager for a given image frame based on the pixel signals.
- the processing unit is also configured to track each terrain feature from a first image frame to a second image frame as the terrain features pass through the field of view of the imager and calculate NED coordinates position information of each tracked terrain feature.
- the processing unit is further configured to update the navigation state vector of the inertial navigation system based on the calculated NED coordinates position information.
- a vehicle includes an image-augmented inertial navigation system.
- the system includes an inertial navigation system configured to estimate a navigation state vector and an imager configured to output pixel signals associated with terrain features passing through a field view of the imager.
- the system further includes a processing unit operatively connected to the inertial navigation system and the imager.
- the processing unit is configured to determine a distance from the imager to a centroid of one or more of the terrain features passing through the field of view of the imager for a given image frame based on the pixel signals.
- the processing unit is also configured to track each terrain feature from a first image frame to a second image frame as the terrain features pass through the field of view of the imager and calculate NED coordinates position information of each tracked terrain features.
- a method of updating a navigation state vector of an inertial navigation system associated with a vehicle includes determining a distance from an imager associated with the vehicle to a centroid of one or more terrain features passing through a field view of the imager for a given image frame. The method further includes tracking each terrain feature from a first image frame to a second image frame as the terrain features pass through the field of view of the imager. The method also includes calculating NED coordinates position information for each of the tracked terrain features and updating the navigation state vector of the inertial navigation system based on the calculated NED coordinates position information. [01 1] Aside from the structural and procedural arrangements set forth above, the invention could include a number of other arrangements, such as those explained hereinafter. It is to be understood, that both the foregoing description and the following description are exemplary.
- Fig. 1 is a schematic view of a vehicle oriented in a NED coordinate system, including an exemplary image-augmented inertial navigation system.
- An exemplary image-augmented inertial navigation system includes an INS and an imaging payload that enables a vehicle carrying such an IAINS to obtain a continuous navigation solution, even in conditions where NED external aiding sources may become unavailable.
- a host vehicle such as for example, an airplane, carries an imager 12.
- the imager 12 may be, for example, a camera, lidar, radar or other similar device known to a person having ordinary skill in the art.
- the imager 12 may include a CPU or the CPU may be located separate from the imager 12.
- the imager 12 is aimed in the direction of a scene (e.g., a feature of the terrain over which the vehicle 10 is flying) to be imaged.
- a scene e.g., a feature of the terrain over which the vehicle 10 is flying
- Such an orientation may be either fixed or it may change in real-time, so long as the imager 12's orientation and offset is known with respect to the vehicle 10 and the INS axes at all times.
- Fig. 1 depicts the imager 12's view direction as directly coincident with the vehicle 10 and INS z- axis, where the vehicle 10 and INS axes have aligned axes systems, although this is not required.
- the concept combines two capabilities: (1) the capabilities of an INS system, and (2) the capabilities of an external aiding source.
- the combination provides data including (a) a pixel array of image information in image coordinates, (b) an associated range value representing the relative distance from the imager 12 (e.g., radar, lidar, video, or any other imaging system) to the ground location of a feature represented by the pixel, and (c) automated tracking of the feature as it moves through the image.
- the image-augmented navigation system requires minimal image processing capability, thereby rendering a powerful CPU unnecessary. In fact, it may be sufficient, according to some embodiments, to identify high contrast features in the image plane and track the identified features from frame to frame, as the identified features move through the imager 12's field of view.
- the image-augmented inertial navigation system relative navigation external aiding source is used for navigation state vector updates in the following ways: [020] A. While an NED coordinates external aiding source is available: [021] 1. the NED coordinates external aiding source could be a
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Radar Systems Or Details Thereof (AREA)
- Measurement Of Distances Traversed On The Ground (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2005250916A AU2005250916B2 (en) | 2004-06-02 | 2005-06-02 | Image-augmented inertial navigation system (IAINS) and method |
CA2569209A CA2569209C (en) | 2004-06-02 | 2005-06-02 | Image-augmented inertial navigation system (iains) and method |
EP05755995A EP1759173A4 (en) | 2004-06-02 | 2005-06-02 | Image-augmented inertial navigation system (iains) and method |
US11/628,303 US7725260B2 (en) | 2004-06-02 | 2005-06-02 | Image-augmented inertial navigation system (IAINS) and method |
JP2007515576A JP2008501955A (en) | 2004-06-02 | 2005-06-02 | Image-enhanced inertial navigation system (IAINS) and method |
KR1020077000036A KR20070035027A (en) | 2004-06-02 | 2005-06-02 | Image Inertial Navigation System and Method |
IL179775A IL179775A (en) | 2004-06-02 | 2006-11-30 | Image-augmented inertial navigation system (iains) and method |
US12/785,606 US8407000B2 (en) | 2004-06-02 | 2010-05-24 | Image augmented inertial navigation system (IAINS) and method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US57603704P | 2004-06-02 | 2004-06-02 | |
US60/576,037 | 2004-06-02 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/628,303 A-371-Of-International US7725260B2 (en) | 2004-06-02 | 2005-06-02 | Image-augmented inertial navigation system (IAINS) and method |
US12/785,606 Continuation US8407000B2 (en) | 2004-06-02 | 2010-05-24 | Image augmented inertial navigation system (IAINS) and method |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2005119178A1 true WO2005119178A1 (en) | 2005-12-15 |
WO2005119178A8 WO2005119178A8 (en) | 2006-08-17 |
Family
ID=35463005
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2005/019411 WO2005119178A1 (en) | 2004-06-02 | 2005-06-02 | Image-augmented inertial navigation system (iains) and method |
Country Status (8)
Country | Link |
---|---|
US (2) | US7725260B2 (en) |
EP (1) | EP1759173A4 (en) |
JP (2) | JP2008501955A (en) |
KR (1) | KR20070035027A (en) |
AU (1) | AU2005250916B2 (en) |
CA (1) | CA2569209C (en) |
IL (1) | IL179775A (en) |
WO (1) | WO2005119178A1 (en) |
Cited By (6)
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EP1975646A2 (en) * | 2007-03-28 | 2008-10-01 | Honeywell International Inc. | Lader-based motion estimation for navigation |
DE102007044314A1 (en) * | 2007-09-17 | 2009-03-19 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Digital line scan camera |
CN104714556A (en) * | 2015-03-26 | 2015-06-17 | 清华大学 | Intelligent course control method for unmanned plane |
US9489852B1 (en) | 2015-01-22 | 2016-11-08 | Zipline International Inc. | Unmanned aerial vehicle management system |
US9488979B1 (en) | 2015-04-14 | 2016-11-08 | Zipline International Inc. | System and method for human operator intervention in autonomous vehicle operations |
EP3081902A4 (en) * | 2014-03-24 | 2017-01-11 | SZ DJI Technology Co., Ltd. | Method and apparatus for correcting aircraft state in real time |
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US7707121B1 (en) * | 2002-05-15 | 2010-04-27 | Navio Systems, Inc. | Methods and apparatus for title structure and management |
US20060036447A1 (en) * | 2002-05-15 | 2006-02-16 | Stefan Roever | Methods of facilitating contact management using a computerized system including a set of titles |
US20030217006A1 (en) * | 2002-05-15 | 2003-11-20 | Stefan Roever | Methods and apparatus for a title transaction network |
US7814025B2 (en) * | 2002-05-15 | 2010-10-12 | Navio Systems, Inc. | Methods and apparatus for title protocol, authentication, and sharing |
US10467606B2 (en) | 2006-04-29 | 2019-11-05 | Api Market, Inc. | Enhanced title processing arrangement |
US10192234B2 (en) | 2006-11-15 | 2019-01-29 | Api Market, Inc. | Title materials embedded within media formats and related applications |
US8996311B1 (en) | 2013-12-06 | 2015-03-31 | Novatel Inc. | Navigation system with rapid GNSS and inertial initialization |
US9182237B2 (en) | 2013-12-06 | 2015-11-10 | Novatel Inc. | Navigation system with rapid GNSS and inertial initialization |
JP2018504652A (en) * | 2015-10-09 | 2018-02-15 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | Prominent feature based mobile positioning |
CN105938371A (en) * | 2016-06-21 | 2016-09-14 | 深圳市博飞航空科技有限公司 | Flight control system, method and remote controller of unmanned aerial vehicle |
IL284872B2 (en) * | 2021-07-13 | 2023-03-01 | Allen Richter | Devices, systems and methods for navigating a mobile platform |
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Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1975646A3 (en) * | 2007-03-28 | 2009-09-09 | Honeywell International Inc. | Lader-based motion estimation for navigation |
EP1975646A2 (en) * | 2007-03-28 | 2008-10-01 | Honeywell International Inc. | Lader-based motion estimation for navigation |
DE102007044314A1 (en) * | 2007-09-17 | 2009-03-19 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Digital line scan camera |
US8085299B2 (en) | 2007-09-17 | 2011-12-27 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Digital line scan camera |
DE102007044314B4 (en) * | 2007-09-17 | 2016-09-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Digital line scan camera |
EP3081902A4 (en) * | 2014-03-24 | 2017-01-11 | SZ DJI Technology Co., Ltd. | Method and apparatus for correcting aircraft state in real time |
US10914590B2 (en) | 2014-03-24 | 2021-02-09 | SZ DJI Technology Co., Ltd. | Methods and systems for determining a state of an unmanned aerial vehicle |
US9489852B1 (en) | 2015-01-22 | 2016-11-08 | Zipline International Inc. | Unmanned aerial vehicle management system |
US11113976B2 (en) | 2015-01-22 | 2021-09-07 | Zipline International Inc. | Unmanned aerial vehicle management system |
CN104714556B (en) * | 2015-03-26 | 2017-08-11 | 清华大学 | UAV Intelligent course heading control method |
CN104714556A (en) * | 2015-03-26 | 2015-06-17 | 清华大学 | Intelligent course control method for unmanned plane |
US9488979B1 (en) | 2015-04-14 | 2016-11-08 | Zipline International Inc. | System and method for human operator intervention in autonomous vehicle operations |
US9910432B1 (en) | 2015-04-14 | 2018-03-06 | Zipline International Inc. | System and method for human operator intervention in autonomous vehicle operations |
US10365645B1 (en) | 2015-04-14 | 2019-07-30 | Zipline International Inc. | System and method for human operator intervention in autonomous vehicle operations |
US11016510B2 (en) | 2015-04-14 | 2021-05-25 | Zipline International Inc. | System and method for human operator intervention in autonomous vehicle operations |
Also Published As
Publication number | Publication date |
---|---|
US20100235097A1 (en) | 2010-09-16 |
EP1759173A1 (en) | 2007-03-07 |
WO2005119178A8 (en) | 2006-08-17 |
AU2005250916A1 (en) | 2005-12-15 |
IL179775A (en) | 2011-11-30 |
CA2569209C (en) | 2014-07-29 |
JP2008501955A (en) | 2008-01-24 |
AU2005250916B2 (en) | 2011-02-17 |
CA2569209A1 (en) | 2005-12-15 |
US20080177472A1 (en) | 2008-07-24 |
US8407000B2 (en) | 2013-03-26 |
US7725260B2 (en) | 2010-05-25 |
KR20070035027A (en) | 2007-03-29 |
JP2011227085A (en) | 2011-11-10 |
EP1759173A4 (en) | 2012-02-22 |
IL179775A0 (en) | 2007-05-15 |
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