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公开(公告)号：US20150292888A1
公开(公告)日：2015-10-15
申请号：US14363261
申请日：2014-04-14
Applicant: SAAB Vricon Systems AB
Inventor： Leif Haglund , Johan Bejeryd , Per Carlbom , Zoran Sjanic
CPC classification number: G01C21/005 , G01S19/13 , G01S19/49 , G05D1/08 , G05D1/0808 , G06T7/207 , G06T7/32 , G06T7/74 , G06T2207/10032 , G06T2207/20016
Abstract: The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached, perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle. The invention also relates to a system, a computer program and a computer program product.
Abstract translation: 本发明涉及一种用于航空器导航的方法。 该方法包括从飞行器传感器提供传感器图像。 该方法还包括重复地，直到达到至少一个预定标准，执行设置输入数据的步骤，其中输入数据包括与俯仰角，侧倾角，偏航角和飞行器的三维位置有关的信息， 基于输入数据从数据库提供二维图像的步骤，其中数据库包括环境的三维地理参考信息，以及从数据库比较传感器图像和二维图像的步骤。 该方法还包括使用两个图像彼此最佳对应的输入数据，以确定航空器的以下量的俯仰角，侧倾角，偏航角和三维位置中的至少一个。 本发明还涉及一种系统，计算机程序和计算机程序产品。
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公开(公告)号：US09689673B2
公开(公告)日：2017-06-27
申请号：US14363629
申请日：2014-04-14
Applicant: SAAB Vricon Systems AB
Inventor： Johan Bejeryd , Manne Anliot , Jonas Dehlin , Leif Haglund
CPC classification number: G01C15/002 , G01C3/00
Abstract: The present disclosure relates to a method (1) and system for determining the position of a target. The method comprises a step of measuring (110) with a range and direction measuring device the position of at least one reference object relative to the position of the range and direction measuring device. The method further comprises a step of marking (120) the at least one reference object in a geo-referenced three-dimensional map so as to obtain a geo-referenced position of the at least one reference object. The method further comprises a step of measuring (130) with the range and direction measuring device the position of the target relative to the position of the range and direction measuring device. The method further comprises a step of calculating (150) a position of the target based on the measured position of the at least one reference object relative to the position of the range and direction measuring device, based on the measured position of the target relative to the position of the range and direction measuring device, and based on the obtained geo-referenced position of the at least one reference object.
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公开(公告)号：US20150317828A1
公开(公告)日：2015-11-05
申请号：US14233972
申请日：2013-01-21
Applicant: SAAB VRICON SYSTEMS AB
Inventor： Folke Isaksson , Johan Bejeryd , Per Carlbom , Ingmar Andersson , Johan Borg , Leif Haglund
CPC classification number: G01C11/06 , G01C11/025 , G06F17/30241 , G06K9/00208 , G06K9/0063 , G06K9/00664 , G06K9/6203 , G06K9/6289 , G06T7/30 , G06T17/05 , G06T2207/30184
Abstract: Various embodiments relate to a method (700) and system for geo-referencing at least one sensor image. The method comprises the steps of: generating at least one sensor image of a first scene with at least one sensor, accessing a 3D model of the environment comprising geo-coded 3D coordinate data and related to at least one second scene, said second scene encompassing said first scene, matching the sensor image with the 3D model find a section of the 3D model where there is a match between the first and the second scenes, geo-referencing the sensor image based on the geo-coded 3D coordinate data of the found section of the 3D model, and determining a measure related to an uncertainty in the matching between the sensor image and the 3D model.
Abstract translation: 各种实施例涉及用于地理参考至少一个传感器图像的方法（700）和系统。 该方法包括以下步骤：利用至少一个传感器生成第一场景的至少一个传感器图像，访问包括地理编码的3D坐标数据并与至少一个第二场景相关的环境的3D模型，所述第二场景包括 所述第一场景与3D模型匹配传感器图像，找到3D模型的一部分，其中在第一和第二场景之间存在匹配，基于所找到的地理编码的3D坐标数据来对传感器图像进行地理参考 并且确定与传感器图像和3D模型之间的匹配中的不确定性相关的度量。
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公开(公告)号：US20150292883A1
公开(公告)日：2015-10-15
申请号：US14363629
申请日：2014-04-14
Applicant: SAAB Vricon Systems AB
Inventor： Johan Bejeryd , Manne Anliot , Jonas Dehlin , Leif Haglund
IPC: G01C3/06
CPC classification number: G01C15/002 , G01C3/00
Abstract: The present disclosure relates to a method (1) and system for determining the position of a target. The method comprises a step of measuring (110) with a range and direction measuring device the position of at least one reference object relative to the position of the range and direction measuring device. The method further comprises a step of marking (120) the at least one reference object in a geo-referenced three-dimensional map so as to obtain a geo-referenced position of the at least one reference object. The method further comprises a step of measuring (130) with the range and direction measuring device the position of the target relative to the position of the range and direction measuring device. The method further comprises a step of calculating (150) a position of the target based on the measured position of the at least one reference object relative to the position of the range and direction measuring device, based on the measured position of the target relative to the position of the range and direction measuring device, and based on the obtained geo-referenced position of the at least one reference object.
Abstract translation: 本公开涉及一种用于确定目标位置的方法（1）和系统。 该方法包括用范围和方向测量装置测量（110）相对于范围和方向测量装置的位置的至少一个参考对象的位置的步骤。 该方法还包括在地理参考的三维地图中标记（120）所述至少一个参考对象以便获得所述至少一个参考对象的地理参考位置的步骤。 该方法还包括用范围和方向测量装置测量（130）目标相对于范围和方向测量装置的位置的位置的步骤。 该方法还包括基于所测量的目标相对于所述距离和方向测量装置的位置的距离和方向测量装置的位置，基于所述至少一个参考对象的测量位置来计算（150）所述目标的位置的步骤 范围和方向测量装置的位置，并且基于所获得的至少一个参考对象的地理参考位置。
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