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公开(公告)号：EP2503287A3
公开(公告)日：2012-12-05
申请号：EP12160185.0
申请日：2012-03-19
发明人： Lommel, Peter , Mohr, Benjamin , Ma, Yunqian
CPC分类号： G01C21/00 , G06T7/593 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212 , G06T2207/30241 , G06T2207/30252
摘要： A method for collaborative navigation between two or more platforms is provided. The method comprises establishing a communication link between a first platform and a second platform, making a sensor measurement from the first platform, updating state and covariance elements of the first platform, and transmitting the updated state and covariance elements from the first platform to the second platform. A conditional update is performed on the second platform to compute a new estimate of state and covariance elements on the second platform, which takes into account the measurement from the first platform. The method further comprises making a sensor measurement from the second platform, updating state and covariance elements of the second platform, and transmitting the updated state and covariance elements from the second platform to the first platform. A conditional update is performed on the first platform to compute a new estimate of state and covariance elements on the first platform, which takes into account the measurement from the second platform.
摘要翻译： 提供了用于两个或更多个平台之间的协作导航的方法。 该方法包括建立第一平台和第二平台之间的通信链路，从第一平台进行传感器测量，更新第一平台的状态和协方差元素，以及将更新的状态和协方差元素从第一平台传输到第二平台 平台。 在第二平台上执行条件更新以计算第二平台上的状态和协方差元素的新估计，其考虑来自第一平台的测量。 该方法进一步包括：从第二平台进行传感器测量，更新第二平台的状态和协方差元素，以及将更新的状态和协方差元素从第二平台传送到第一平台。 在第一平台上执行条件更新以计算第一平台上的状态和协方差元素的新估计，其考虑来自第二平台的测量。
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2.发明公开Method and system for autonomous tracking of a mobile target by an unmanned aerial vehicle 审中-公开方法和系统由无人机自主跟踪移动目标
公开(公告)号：EP2083341A2
公开(公告)日：2009-07-29
申请号：EP08169378.0
申请日：2008-11-18
IPC分类号： G05D1/10
CPC分类号： G05D1/0094
摘要： This invention provides a system and method for autonomously tracking a moving target from unmanned aerial vehicles (UAVs) with a variety of airframe and sensor payload capabilities so that the target remains within the vehicle's sensor field of view regardless of the specific target motion patterns. The invention uses information about target location, UAV platform type and states, sensor payload capability, and ratio of target-to-UAV speeds to select from a suite of sub-algorithms, each of which generates desired platform positions (in form of waypoints) and/or sensor orientation commands to keep the target in view.
摘要翻译： 本发明提供一种系统和方法，用于自主地从无人驾驶飞行器（UAV）跟踪运动目标与各种机体和传感器载荷能力使做目标仍然是鉴于车辆的传感器领域内不管具体的目标运动图案。 本发明使用关于目标位置，UAV平台类型和状态，传感器的有效载荷能力，和靶 - UAV速度比信息，以便从一套子算法进行选择，每个的期望平台位置（路点的形式）哪个基因率 和/或传感器取向的命令，以保持目标视图。
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公开(公告)号：EP2133662A3
公开(公告)日：2010-07-14
申请号：EP09162088.0
申请日：2009-06-05
CPC分类号： G01C21/005 , G01C21/165
摘要： A method of navigating based on terrain features is disclosed. The method identifies a set of terrain features of an area substantially surrounding a navigation platform having a system for simultaneous localization and mapping. For each terrain feature identified, the method records current navigational data as the navigation platform traverses the area, and correlates the current navigational data of each of the identified local terrain features with prior navigational data of previously-determined terrain features from an existing terrain mapping database accessed by the navigation platform to within a prescribed correlation threshold. From at least the correlated navigational data of the identified terrain features, the method provides a current position estimate for the navigation platform.
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4.发明公开Methods and system of navigation using terrain features 有权Navigationsverfahren und-system unter Verwendung vonGeländemerkmalen
公开(公告)号：EP2133662A2
公开(公告)日：2009-12-16
申请号：EP09162088.0
申请日：2009-06-05
CPC分类号： G01C21/005 , G01C21/165
摘要： A method of navigating based on terrain features is disclosed. The method identifies a set of terrain features of an area substantially surrounding a navigation platform having a system for simultaneous localization and mapping. For each terrain feature identified, the method records current navigational data as the navigation platform traverses the area, and correlates the current navigational data of each of the identified local terrain features with prior navigational data of previously-determined terrain features from an existing terrain mapping database accessed by the navigation platform to within a prescribed correlation threshold. From at least the correlated navigational data of the identified terrain features, the method provides a current position estimate for the navigation platform.
摘要翻译： 公开了一种基于地形特征的导航方法。 该方法识别基本上围绕具有用于同时定位和映射的系统的导航平台的区域的一组地形特征。 对于所识别的每个地形特征，当导航平台横穿该区域时，该方法记录当前的导航数据，并将每个识别的本地地形特征的当前导航数据与来自现有地形映射数据库的先前确定的地形特征的先前导航数据相关联 由导航平台访问到规定的相关阈值内。 从至少所识别的地形特征的相关导航数据中，该方法提供导航平台的当前位置估计。
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5.发明公开Collaborative navigation using conditional updates 审中-公开Kollaborative导航更新Verwendung von bedingten更新
公开(公告)号：EP2503287A2
公开(公告)日：2012-09-26
申请号：EP12160185.0
申请日：2012-03-19
发明人： Lommel, Peter , Mohr, Benjamin , Ma, Yunqian
IPC分类号： G01C21/00
CPC分类号： G01C21/00 , G06T7/593 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212 , G06T2207/30241 , G06T2207/30252
摘要： A method for collaborative navigation between two or more platforms is provided. The method comprises establishing a communication link between a first platform and a second platform, making a sensor measurement from the first platform, updating state and covariance elements of the first platform, and transmitting the updated state and covariance elements from the first platform to the second platform. A conditional update is performed on the second platform to compute a new estimate of state and covariance elements on the second platform, which takes into account the measurement from the first platform. The method further comprises making a sensor measurement from the second platform, updating state and covariance elements of the second platform, and transmitting the updated state and covariance elements from the second platform to the first platform. A conditional update is performed on the first platform to compute a new estimate of state and covariance elements on the first platform, which takes into account the measurement from the second platform.
摘要翻译： 提供了一种用于在两个或更多个平台之间进行协作导航的方法。 该方法包括在第一平台和第二平台之间建立通信链路，从第一平台进行传感器测量，更新第一平台的状态和协方差元素，以及将更新的状态和协方差元素从第一平台发送到第二平台 平台。 在第二平台上执行条件更新以计算第二平台上的状态和协方差元素的新估计，其考虑了来自第一平台的测量。 该方法还包括从第二平台进行传感器测量，更新第二平台的状态和协方差元素，以及将更新的状态和协方差元素从第二平台发送到第一平台。 在第一平台上执行条件更新以计算第一平台上的状态和协方差元素的新估计，其考虑了来自第二平台的测量。
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6.发明公开System and method for wavelet-based gait classification 审中-公开系统和Verfahren zur auf小波basierenden Gangklassifizierung
公开(公告)号：EP2439492A1
公开(公告)日：2012-04-11
申请号：EP11184048.4
申请日：2011-10-05
发明人： Hesch, Joel , Ma, Yunqian , Lommel, Peter
CPC分类号： G01C22/006 , A61B5/112 , A61B5/725 , A61B5/726 , A61B5/7264 , G01C21/16
摘要： A motion classification system comprises an inertial measurement unit configured to sense motion of a user and to output one or more channels of inertial motion data corresponding to the sensed motion; and a processing unit configured to calculate a coefficient vector for each of the one or more channels based on a wavelet transformation of the respective inertial motion data, and to select one of a plurality of gaits as the user's gait based on the calculated coefficient vector of at least one of the one or more channels and on a plurality of templates, each template corresponding to one of the plurality of gaits.
摘要翻译： 运动分类系统包括惯性测量单元，其被配置为感测用户的运动并且输出与所感测到的运动相对应的一个或多个惯性运动数据通道; 以及处理单元，被配置为基于各个惯性运动数据的小波变换来计算所述一个或多个信道中的每一个的系数向量，并且基于所计算的系数向量来选择多个步态中的一个作为用户的步态 所述一个或多个通道中的至少一个，并且在多个模板上，每个模板对应于所述多个步态之一。
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公开(公告)号：EP2133662B1
公开(公告)日：2012-02-01
申请号：EP09162088.0
申请日：2009-06-05
CPC分类号： G01C21/005 , G01C21/165
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