公开(公告)号：US20160290805A1

公开(公告)日：2016-10-06

申请号：US15038702

申请日：2014-12-02

申请人： THE REGENTS OF UNIVERSITY OF CALIFORNIA

发明人： Andrew T. Irish ,  Jason T. Isaacs ,  Francois Quitin ,  Joao P. Hespanha ,  Upamanyu Madhow

IPC分类号： G01C21/00 ,  G01S19/22

CPC分类号： G01C21/005 ,  G01S19/22

摘要： Various embodiments each include at least one of systems, methods, devices, and software for GNSS simultaneous localization and mapping (SLAM). The disclosed techniques demonstrate that simultaneous localization and mapping (SLAM) can be performed using only GNSS SNR and geo-location data, collectively termed GNSS data henceforth. A principled Bayesian approach for doing so is disclosed. A 3-D environment map is decomposed into a grid of binary-state cells (occupancy grid) and the receiver locations are approximated by sets of particles. Using a large number of sparsely sampled GNSS SNR measurements and receiver/satellite coordinates (all available from off-the-shelf GNSS receivers), likelihoods of blockage are associated with every receiver-to-satellite beam. Loopy Belief Propagation is used to estimate the probabilities of each cell being occupied or empty, along with the probability of the particles for each receiver location.

摘要翻译： 各种实施例各自包括用于GNSS同时定位和映射（SLAM）的系统，方法，设备和软件中的至少一个。 所公开的技术表明，可以仅使用GNSS SNR和地理位置数据（以下统称为GNSS数据）来执行同时定位和映射（SLAM）。 披露了一项原则性的贝叶斯方法。 3-D环境图被分解成二进制状态单元格（占用网格），并且接收器位置由一组粒子近似。 使用大量稀疏采样的GNSS SNR测量和接收机/卫星坐标（全部可从现成的GNSS接收机获得），阻塞的可能性与每个接收机到卫星的波束相关联。 Loopy信仰传播用于估计每个被占用或空的单元的概率，以及每个接收器位置的粒子的概率。