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1.发明授权公开(公告)号：US08954853B2
公开(公告)日：2015-02-10
申请号：US13604842
申请日：2012-09-06
申请人： Alberto Daniel Lacaze , Karl Nicholas Murphy , Anne Rachel Schneider , Raymond Paul Wilhelm, III
发明人： Alberto Daniel Lacaze , Karl Nicholas Murphy , Anne Rachel Schneider , Raymond Paul Wilhelm, III
IPC分类号： G06F3/0485 , G06F3/0484 , G11B27/10
CPC分类号： G06F3/04842 , G01C21/367 , G06F3/0482 , G06F3/0484 , G06F3/04855 , G06F17/30061 , G11B27/105
摘要： An after-action, mission review tool that displays camera and navigation sensor data allowing a user to pan, tilt, and zoom through the images from front and back cameras on an vehicle, while simultaneously viewing time/date information, along with any available navigation information such as the latitude and longitude of the vehicle at that time instance. Also displayed is a visual representation of the path the vehicle traversed; when the user clicks on the path, the image is automatically changed to the image corresponding to that position. If aerial images of the area are available, the path can be plotted on the geo-referenced image.
摘要翻译： 一种行动后任务评估工具，显示相机和导航传感器数据，允许用户对车辆前后相机的图像进行平移，倾斜和缩放，同时查看时间/日期信息以及任何可用的导航 诸如当时车辆的纬度和经度的信息。 还显示车辆行驶路径的视觉表示; 当用户点击路径时，图像将自动更改为与该位置相对应的图像。 如果该区域的航空图像可用，则路径可以绘制在地理参考图像上。
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公开(公告)号：US20150121222A1
公开(公告)日：2015-04-30
申请号：US14587295
申请日：2014-12-31
申请人： Alberto Daniel Lacaze , Karl Nicholas Murphy , Anne Rachel Schneider , Raymond Paul Wilhelm, III
发明人： Alberto Daniel Lacaze , Karl Nicholas Murphy , Anne Rachel Schneider , Raymond Paul Wilhelm, III
IPC分类号： G06F17/30 , G06F3/0484 , G01C21/36 , G06F3/0482
CPC分类号： G06F3/04842 , G01C21/367 , G06F3/0482 , G06F3/0484 , G06F3/04855 , G06F16/444 , G11B27/105
摘要： An after-action, mission review tool that displays camera and navigation sensor data allowing a user to pan, tilt, and zoom through the images from front and back cameras on an vehicle, while simultaneously viewing time/date information, along with any available navigation information such as the latitude and longitude of the vehicle at that time instance.Also displayed is a visual representation of the path the vehicle traversed; when the user clicks on the path, the image is automatically changed to the image corresponding to that position. If aerial images of the area are available, the path can be plotted on the geo-referenced image.
摘要翻译： 一种行动后任务评估工具，显示相机和导航传感器数据，允许用户对车辆前后相机的图像进行平移，倾斜和缩放，同时查看时间/日期信息以及任何可用的导航 诸如当时车辆的纬度和经度的信息。 还显示车辆行驶路径的视觉表示; 当用户点击路径时，图像将自动更改为与该位置相对应的图像。 如果该区域的航空图像可用，则路径可以绘制在地理参考图像上。
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公开(公告)号：US20140068439A1
公开(公告)日：2014-03-06
申请号：US13604842
申请日：2012-09-06
申请人： Alberto Daniel Lacaze , Karl Nicholas Murphy , Anne Rachel Schneider , Raymond Paul Wilhelm, III
发明人： Alberto Daniel Lacaze , Karl Nicholas Murphy , Anne Rachel Schneider , Raymond Paul Wilhelm, III
IPC分类号： G06F3/0485 , G06F3/0484
CPC分类号： G06F3/04842 , G01C21/367 , G06F3/0482 , G06F3/0484 , G06F3/04855 , G06F17/30061 , G11B27/105
摘要： An after-action, mission review tool that displays camera and navigation sensor data allowing a user to pan, tilt, and zoom through the images from front and back cameras on an vehicle, while simultaneously viewing time/date information, along with any available navigation information such as the latitude and longitude of the vehicle at that time instance. Also displayed is a visual representation of the path the vehicle traversed; when the user clicks on the path, the image is automatically changed to the image corresponding to that position. If aerial images of the area are available, the path can be plotted on the geo-referenced image.
摘要翻译： 一种行动后任务评估工具，显示相机和导航传感器数据，允许用户对车辆前后相机的图像进行平移，倾斜和缩放，同时查看时间/日期信息以及任何可用的导航 诸如当时车辆的纬度和经度的信息。 还显示车辆行驶路径的视觉表示; 当用户点击路径时，图像将自动更改为与该位置相对应的图像。 如果该区域的航空图像可用，则路径可以绘制在地理参考图像上。
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公开(公告)号：US20160349379A1
公开(公告)日：2016-12-01
申请号：US15168460
申请日：2016-05-31
CPC分类号： G01S19/47 , G01S19/215 , G01S19/35 , G01S19/45 , G01S19/51
摘要： An atomic clock is used in conjunction with the GNSS receiver and the inertial sensors, creating a more capable inertial navigation system (INS). The system is composed of a GNSS receiver, an accurate clock, and a mechanism for measuring relative pose changes. The system being presented utilizes an inertial measurement unit (IMU) to provide the relative pose changes, but other mechanisms can be used—like visual and ladar odometry. The GNSS receiver measures the pseudo-ranges to the GNSS satellites in the field of view. These measurements are “time tagged” with the accuracy of the atomic clock. The relative motion between the pseudo-ranges is measured using the IMU. Finally, the lock is achieved by filtering these measurements. The filtering mechanism can vary, from the traditional Kalman Filters to other mechanisms that attempt to minimize the mean square error.
摘要翻译： 原子钟与GNSS接收机和惯性传感器结合使用，创造出更有能力的惯性导航系统（INS）。 该系统由GNSS接收机，精确时钟和用于测量相对姿态变化的机构组成。 所呈现的系统利用惯性测量单元（IMU）来提供相对的姿势变化，但是可以使用其他机制，例如视觉和实时测距。 GNSS接收机在视野范围内测量GNSS卫星的伪距。 这些测量与原子钟的精确度“时间标记”。 使用IMU测量伪距离之间的相对运动。 最后，通过过滤这些测量来实现锁定。 滤波机制可以从传统的卡尔曼滤波器到其他尝试最小化均方误差的机制。
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公开(公告)号：US20190068954A1
公开(公告)日：2019-02-28
申请号：US16045795
申请日：2018-07-26
IPC分类号： H04N13/243 , G01S17/93 , H04N13/271 , B64C27/08 , B64C39/02 , B64D47/08 , G01S7/481 , G01S17/89 , G01S17/48 , G01S17/42 , G01S17/08 , H04N13/254 , H04N13/128 , H04N13/00
摘要： Structured light approaches utilize a laser to project features, which are then captured with a camera. By knowing the disparity between the laser emitter and the camera, the system can triangulate to find the range. Four, 185 degree field-of-view cameras provide overlapping views over nearly the whole unit sphere. The cameras are separated from each other to provide parallax. A near-infrared laser projection unit sends light out into the environment, which is reflected and viewed by the cameras. The laser projection system will create vertical lines, while the cameras will be displaced from each other horizontally. This relative shift of the lines, as viewed by different cameras, enables the lines to be triangulated in 3D space. At each point in time, a vertical stripe of the world will be triangulated. Over time, the laser line will be rotated over all yaw angles to provide full a 360 degree range.
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6.发明申请公开(公告)号：US20180003826A1
公开(公告)日：2018-01-04
申请号：US15175094
申请日：2016-06-07
摘要： Atomic clocks (at both the receiver and emitter) are used to obfuscate the location of the receiver by providing a different mechanism to synchronize (other than the direct reception). Using this approach, there is no need for the emitter to emit directly to the receiver; only the reflection is necessary, and therefore, the location of the receiver (or receivers) is better obfuscated. Phased antenna arrays are used in RADAR for a variety of applications, including steering of beams and increasing the “aperture” of the antenna for Synthetic Aperture Radar (SAR). The relative position of the emitters is known by means of using a Navigation unit. The beam-steering phase shifts are dynamically computed using the position of the emitters, and the atomic clock is used to synchronize the phase shifts.
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公开(公告)号：US20170201738A1
公开(公告)日：2017-07-13
申请号：US15176229
申请日：2016-06-08
IPC分类号： H04N13/02 , G01S17/93 , G01S7/481 , B64D47/08 , H04N5/232 , B64C39/02 , B64C27/08 , G01S17/89 , G01S17/02
CPC分类号： H04N13/243 , B64C39/024 , B64C2201/024 , B64C2201/027 , B64C2201/108 , B64C2201/123 , B64C2201/14 , B64C2201/162 , G01B11/245 , G01B11/2518 , G01B11/2545 , G01S7/4813 , G01S7/4815 , G01S7/4816 , G01S17/08 , G01S17/42 , G01S17/48 , G01S17/89 , G01S17/933 , H04N13/128 , H04N13/254 , H04N13/271 , H04N2013/0081
摘要： Structured light approaches utilize a laser to project features, which are then captured with a camera. By knowing the disparity between the laser emitter and the camera, the system can triangulate to find the range. Four, 185 degree field-of-view cameras provide overlapping views over nearly the whole unit sphere. The cameras are separated from each other to provide parallax. A near-infrared laser projection unit sends light out into the environment, which is reflected and viewed by the cameras. The laser projection system will create vertical lines, while the cameras will be displaced from each other horizontally. This relative shift of the lines, as viewed by different cameras, enables the lines to be triangulated in 3D space. At each point in time, a vertical stripe of the world will be triangulated. Over time, the laser line will be rotated over all yaw angles to provide full a 360 degree range.
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公开(公告)号：US20190023903A1
公开(公告)日：2019-01-24
申请号：US15700082
申请日：2017-09-09
摘要： A system for localizing a swarm of robotic platforms utilizing ranging sensors. The swarm is localized by purposely leaving some of the platforms of the swarm stationary, providing localization to the moving ones. The platforms in the swarm can alternate between a stationary and moving state.
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公开(公告)号：US20160114487A1
公开(公告)日：2016-04-28
申请号：US14874078
申请日：2015-10-02
CPC分类号： C08L91/06 , B25J9/1617 , B64C39/024 , B64C2201/123 , B64C2201/143 , G01S5/0289 , G01S17/08 , G01S17/933 , G05B2219/39146 , G05D1/104 , Y10S901/01
摘要： A system for localizing a swarm of robotic platforms utilizing ranging sensors. The swarm is localized by purposely leaving some of the platforms of the swarm stationary, providing localization to the moving ones. The platforms in the swarm can alternate between a stationary and moving state.
摘要翻译： 一种利用测距传感器定位一组机器人平台的系统。 通过有意地将群体的一些平台静态地定位到群体，为移动群体提供本地化。 群体中的平台可以在静止和移动状态之间交替。
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公开(公告)号：US10324476B2
公开(公告)日：2019-06-18
申请号：US14874078
申请日：2015-10-02
摘要： A system for localizing a swarm of robotic platforms utilizing ranging sensors. The swarm is localized by purposely leaving some of the platforms of the swarm stationary, providing localization to the moving ones. The platforms in the swarm can alternate between a stationary and moving state.
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