公开(公告)号：US06243657B1

公开(公告)日：2001-06-05

申请号：US08996504

申请日：1997-12-23

申请人： Alan Tuck ,  Gary Brayson ,  Mario B. Ignagni ,  Alan B. Touchberry ,  Donald William Anderson ,  Stephen James Glen ,  James Michael Alexander Gilman

发明人： Alan Tuck ,  Gary Brayson ,  Mario B. Ignagni ,  Alan B. Touchberry ,  Donald William Anderson ,  Stephen James Glen ,  James Michael Alexander Gilman

IPC分类号： G01C900

CPC分类号： G01N29/2412 ,  G01C21/165 ,  G01N29/265 ,  G01N2291/0234 ,  G01N2291/2636

摘要： A pipeline inspection and defect mapping system includes a pig having an inertial measurement unit and a pipeline inspection unit for recording pig location and defect detection events, each record time-stamped by a highly precise onboard clock. The system also includes several magloggers at precisely known locations along the pipeline, each containing a fluxgate magnetometer for detecting the passage of the pig along the pipeline and further containing a highly precise clock synchronized with the clock in the pig. The locations of the various magloggers are known in a north/east/down coordinate system through a differential global positioning satellite process. Finally, a postprocessing off-line computer system receives downloaded maglogger, inertial measurement, and odometer data and through the use of several Kalman filters, derives the location of the detected defects in the north/east/down coordinate frame. Consequently, a task of identifying sites for repair activity is much simplified.

摘要翻译： 管道检查和缺陷映射系统包括具有惯性测量单元的猪和用于记录猪位置和缺陷检测事件的管线检查单元，每个记录由高度精确的车载时钟加标记。 该系统还包括沿着管道的精确已知位置的几个磁化器，每个磁化器包含用于检测猪沿着管道通过的磁通门磁力计，并且进一步包含与猪时钟同步的高度精确的时钟。 通过差分全球定位卫星过程，在北/东/下坐标系中已知各种药剂师的位置。 最后，后处理离线计算机系统接收下载的maglogger，惯性测量和里程表数据，并通过使用几个卡尔曼滤波器，导出检测到的缺陷在北/东/下坐标系中的位置。 因此，识别修复活动的位置的任务被大大简化。

公开(公告)号：US08364334B2

公开(公告)日：2013-01-29

申请号：US12261683

申请日：2008-10-30

申请人： Kwong Wing Au ,  Alan B. Touchberry ,  Brian VanVoorst ,  Jon Schewe

发明人： Kwong Wing Au ,  Alan B. Touchberry ,  Brian VanVoorst ,  Jon Schewe

IPC分类号： G01C22/00

CPC分类号： G01C21/165 ,  G05D1/024 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0213

摘要： A system and method for providing information for autonomous vehicle navigation are disclosed. The system comprises at least one laser scanner configured to perform one or more range and intensity scans of an area around the autonomous vehicle, and a geo-location unit comprising one or more global positioning system sensors and inertial navigation system sensors. The system also includes at least one processor in operative communication with the laser scanner and the geo-location unit. The processor is configured to execute one or more program modules comprising a ground plane-based processing module configured to receive range scan data transformed into world coordinates, and output ground plane-based classification data; a range-based processing module configured to receive data from a single range scan, and output range-based classification data; an intensity-based processing module configured to receive intensity scan data, and output intensity-based classification data; and a classification fusion module configured to receive the classification data from each of the processing modules, and output range bin classification data.

摘要翻译： 公开了一种用于提供自主车辆导航信息的系统和方法。 该系统包括至少一个激光扫描器，其被配置为执行自主车辆周围区域的一个或多个范围和强度扫描，以及包括一个或多个全球定位系统传感器和惯性导航系统传感器的地理位置单元。 该系统还包括与激光扫描仪和地理位置单元操作性通信的至少一个处理器。 所述处理器被配置为执行一个或多个程序模块，所述程序模块包括被配置为接收被变换为世界坐标的范围扫描数据并且输出基于接地平面的分类数据的基于接地平面的处理模块; 配置为从单一范围扫描接收数据的基于范围的处理模块，以及输出基于范围的分类数据; 基于强度的处理模块，被配置为接收强度扫描数据，以及输出基于强度的分类数据; 以及分类融合模块，被配置为从每个处理模块接收分类数据，以及输出范围仓分类数据。

公开(公告)号：US20100114416A1

公开(公告)日：2010-05-06

申请号：US12261683

申请日：2008-10-30

申请人： KWONG WING AU ,  Alan B. Touchberry ,  Brian VanVoorst ,  JON SCHEWE

发明人： KWONG WING AU ,  Alan B. Touchberry ,  Brian VanVoorst ,  JON SCHEWE

IPC分类号： G05D1/00 ,  G01C3/08

CPC分类号： G01C21/165 ,  G05D1/024 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0213

摘要： A system and method for providing information for autonomous vehicle navigation are disclosed. The system comprises at least one laser scanner configured to perform one or more range and intensity scans of an area around the autonomous vehicle, and a geo-location unit comprising one or more global positioning system sensors and inertial navigation system sensors. The system also includes at least one processor in operative communication with the laser scanner and the geo-location unit. The processor is configured to execute one or more program modules comprising a ground plane-based processing module configured to receive range scan data transformed into world coordinates, and output ground plane-based classification data; a range-based processing module configured to receive data from a single range scan, and output range-based classification data; an intensity-based processing module configured to receive intensity scan data, and output intensity-based classification data; and a classification fusion module configured to receive the classification data from each of the processing modules, and output range bin classification data.

摘要翻译： 公开了一种用于提供自主车辆导航信息的系统和方法。 该系统包括至少一个激光扫描器，其被配置为执行自主车辆周围区域的一个或多个范围和强度扫描，以及包括一个或多个全球定位系统传感器和惯性导航系统传感器的地理位置单元。 该系统还包括与激光扫描仪和地理位置单元操作性通信的至少一个处理器。 所述处理器被配置为执行一个或多个程序模块，所述程序模块包括基于接地层的处理模块，所述处理模块被配置为接收被变换为世界坐标的范围扫描数据，并且输出基于接地平面的分类数据; 配置为从单个范围扫描接收数据的基于范围的处理模块，以及输出基于范围的分类数据; 基于强度的处理模块，被配置为接收强度扫描数据，以及输出基于强度的分类数据; 以及分类融合模块，被配置为从每个处理模块接收分类数据，以及输出范围仓分类数据。

公开(公告)号：US20080059065A1

公开(公告)日：2008-03-06

申请号：US11470134

申请日：2006-09-05

申请人： Dennis W. Strelow ,  Alan B. Touchberry

发明人： Dennis W. Strelow ,  Alan B. Touchberry

IPC分类号： G01C21/00

CPC分类号： G01C21/005 ,  G01S19/14 ,  G05D1/101

摘要： A method and system for navigation of an unmanned aerial vehicle (UAV) in an urban environment are provided. The method comprises capturing a first set of Global Positioning System (GPS)-tagged images in an initial fly-over of the urban environment at a first altitude, with each of the GPS-tagged images being related to respective GPS-aided positions. The captured GPS-tagged images are stitched together into an image mosaic using the GPS-aided positions. A second set of images is captured in a subsequent fly-over of the urban environment at a second altitude that is lower than the first altitude. Image features from the second set of images are matched with image features from the image mosaic during the subsequent fly-over. A current position of the UAV relative to the GPS-aided positions is calculated based on the matched image features from the second set of images and the image mosaic.

摘要翻译： 提供了一种在城市环境中无人驾驶飞行器（UAV）导航的方法和系统。 该方法包括在第一高度的城市环境的初始飞越中捕获第一组全球定位系统（GPS）标记图像，其中每个GPS标记的图像与相应的GPS辅助位置相关。 捕获的GPS标记的图像使用GPS辅助位置拼接在一起成为图像拼接。 在第二高度低于第一高度的城市环境的后续飞越中捕获第二组图像。 来自第二组图像的图像特征与后续飞越期间的图像拼接图像特征相匹配。 基于来自第二组图像和图像马赛克的匹配图像特征来计算UAV相对于GPS辅助位置的当前位置。

公开(公告)号：US07943874B2

公开(公告)日：2011-05-17

申请号：US12019363

申请日：2008-01-24

申请人： Robert D. Horning ,  Ryan Supino ,  Alan B. Touchberry

发明人： Robert D. Horning ,  Ryan Supino ,  Alan B. Touchberry

IPC分类号： H01H3/14 ,  H01H3/02 ,  H01H35/00

CPC分类号： G01C22/006 ,  G01C21/16 ,  Y10S2/905

摘要： A ground contact switch system comprises a first object configured to contact a ground surface during a stride, and one or more switches coupled to the first object. An inertial measurement unit can be coupled to the first object. The one or more switches are configured to detect when the first object is at a stationary portion of the stride. The one or more switches can also be configured to send a signal to activate an error correction scheme for the inertial measurement unit.

摘要翻译： 地面接触开关系统包括构造成在步幅期间接触地面的第一物体和耦合到第一物体的一个或多个开关。 惯性测量单元可耦合到第一物体。 一个或多个开关被配置为检测第一对象何时处于步幅的静止部分。 一个或多个开关也可以被配置为发送信号以激活惯性测量单元的纠错方案。

公开(公告)号：US20090071805A1

公开(公告)日：2009-03-19

申请号：US12019363

申请日：2008-01-24

申请人： Robert D. Horning ,  Ryan Supino ,  Alan B. Touchberry

发明人： Robert D. Horning ,  Ryan Supino ,  Alan B. Touchberry

IPC分类号： H01H35/14

CPC分类号： G01C22/006 ,  G01C21/16 ,  Y10S2/905

摘要： A ground contact switch system comprises a first object configured to contact a ground surface during a stride, and one or more switches coupled to the first object. An inertial measurement unit can be coupled to the first object. The one or more switches are configured to detect when the first object is at a stationary portion of the stride. The one or more switches can also be configured to send a signal to activate an error correction scheme for the inertial measurement unit.

摘要翻译： 地面接触开关系统包括构造成在步幅期间接触地面的第一物体和耦合到第一物体的一个或多个开关。 惯性测量单元可耦合到第一物体。 一个或多个开关被配置为检测第一对象何时处于步幅的静止部分。 一个或多个开关也可以被配置为发送信号以激活惯性测量单元的纠错方案。

公开(公告)号：US07840352B2

公开(公告)日：2010-11-23

申请号：US11470120

申请日：2006-09-05

申请人： Dennis W. Strelow ,  Alan B. Touchberry

发明人： Dennis W. Strelow ,  Alan B. Touchberry

IPC分类号： G01C21/00

CPC分类号： G05D1/0278 ,  G05D1/0246 ,  G05D1/027

摘要： A method and system are provided for autonomous vehicle navigation. In the method and system, one or more Global Positioning System (GPS) sensors, one or more inertial sensors, and one or more image sensors are provided on an autonomous vehicle. During operation of the autonomous vehicle, one or more GPS measurements, one or more inertial measurements, and one or more image measurements are obtained from the respective GPS sensors, inertial sensors, and image sensors. Each of the GPS measurements, inertial measurements, and image measurements are integrated together to estimate a position of the autonomous vehicle over time.

摘要翻译： 提供了一种用于自主车辆导航的方法和系统。 在该方法和系统中，在自主车辆上提供一个或多个全球定位系统（GPS）传感器，一个或多个惯性传感器和一个或多个图像传感器。 在自主车辆的操作期间，从相应的GPS传感器，惯性传感器和图像传感器获得一个或多个GPS测量，一个或多个惯性测量以及一个或多个图像测量。 GPS测量，惯性测量和图像测量中的每一个被集成在一起以估计自主车辆随时间的位置。

公开(公告)号：US20080059068A1

公开(公告)日：2008-03-06

申请号：US11470120

申请日：2006-09-05

申请人： Dennis W. Strelow ,  Alan B. Touchberry

发明人： Dennis W. Strelow ,  Alan B. Touchberry

IPC分类号： G01C21/00

CPC分类号： G05D1/0278 ,  G05D1/0246 ,  G05D1/027

摘要： A method and system are provided for autonomous vehicle navigation. In the method and system, one or more Global Positioning System (GPS) sensors, one or more inertial sensors, and one or more image sensors are provided on an autonomous vehicle. During operation of the autonomous vehicle, one or more GPS measurements, one or more inertial measurements, and one or more image measurements are obtained from the respective GPS sensors, inertial sensors, and image sensors. Each of the GPS measurements, inertial measurements, and image measurements are integrated together to estimate a position of the autonomous vehicle over time.

摘要翻译： 提供了一种用于自主车辆导航的方法和系统。 在该方法和系统中，在自主车辆上提供一个或多个全球定位系统（GPS）传感器，一个或多个惯性传感器和一个或多个图像传感器。 在自主车辆的操作期间，从相应的GPS传感器，惯性传感器和图像传感器获得一个或多个GPS测量，一个或多个惯性测量以及一个或多个图像测量。 GPS测量，惯性测量和图像测量中的每一个被集成在一起以估计自主车辆随时间的位置。

公开(公告)号：US5579110A

公开(公告)日：1996-11-26

申请号：US298623

申请日：1994-08-31

申请人： Alan B. Touchberry ,  Thomas J. Rolfer

发明人： Alan B. Touchberry ,  Thomas J. Rolfer

IPC分类号： G01C19/70

CPC分类号： G01C19/70

摘要： An elongated inertial measurement unit having a plurality of gyros, none of which is aligned with the cardinal longitudinal axis of the elongated housing. At least one gyro has its input sensing axis aligned at an angle between 35 and 55 degrees, preferably at 45 degrees, relative to the cardinal longitudinal axis. This results in effective dithering by each of the enclosed gyros. All of the gyros are situated such that the centers of their masses or configurations are aligned with or approximately located in a row along the longitudinal axis of the elongated housing. The housing may be of various cross-sectional shapes, but the preferred shape of such housing is a right circular cylinder.

摘要翻译： 一种细长的惯性测量单元，其具有多个陀螺仪，其中没有一个与长形壳体的主要纵向轴线对准。 至少一个陀螺仪具有其输入感测轴相对于主要纵向轴线以35度和55度之间的角度对准，优选地以45度对准。 这导致每个封闭的陀螺仪有效抖动。 所有的陀螺仪被定位成使得其质量或构型的中心沿着细长壳体的纵向轴线对齐或大致位于一排中。 壳体可以具有各种横截面形状，但是这种壳体的优选形状是右圆柱体。

公开(公告)号：US08315794B1

公开(公告)日：2012-11-20

申请号：US11470152

申请日：2006-09-05

申请人： Dennis W. Strelow ,  Alan B. Touchberry

发明人： Dennis W. Strelow ,  Alan B. Touchberry

IPC分类号： G01C21/00 ,  G05D3/00

CPC分类号： G05D1/104

摘要： A method and system for navigation of one or more unmanned aerial vehicles in an urban environment is provided. The method comprises flying at least one Global Positioning System (GPS)-aided unmanned aerial vehicle at a first altitude over an urban environment, and flying at least one GPS-denied unmanned aerial vehicle at a second altitude over the urban environment that is lower than the first altitude. The unmanned aerial vehicles are in operative communication with each other so that images can be transmitted therebetween. A first set of images from the GPS-aided unmanned aerial vehicle is captured, and a second set of images from the GPS-denied unmanned aerial vehicle is also captured. Image features from the second set of images are then matched with corresponding image features from the first set of images. A current position of the GPS-denied unmanned aerial vehicle is calculated based on the matched image features from the first and second sets of images.

摘要翻译： 提供了一种用于在城市环境中导航一种或多种无人驾驶飞行器的方法和系统。 该方法包括在城市环境的第一高度上飞行至少一个全球定位系统（GPS）的无人驾驶飞行器，并且在低于城市环境的城市环境中的第二高度上飞行至少一个GPS拒绝的无人驾驶飞行器 第一高度。 无人驾驶飞行器彼此可操作地通信，从而可以在其间传输图像。 捕获来自GPS辅助无人飞行器的第一组图像，并且还捕获来自GPS拒绝的无人飞行器的第二组图像。 然后将来自第二组图像的图像特征与来自第一组图像的相应图像特征相匹配。 基于来自第一和第二组图像的匹配图像特征来计算GPS拒绝的无人机的当前位置。