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公开(公告)号：US20220268584A1
公开(公告)日：2022-08-25
申请号：US17178624
申请日：2021-02-18
Applicant: Trimble Inc.
Inventor： Bruno M. Scherzinger
Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a previous navigation solution, and (ii) a specific force vector and an angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to perform an a priori transformation of RI data acquired by the RI sensor using the current navigation solution to obtain transformed RI data, an RI map database configured to retrieve a valid keyframe map based on the transformed RI data, and an RI filter manager (RFM) configured to construct a map registration cost gradient (MRCG) measurement based on (i) the transformed RI data, and (ii) the known position and the known orientation of the valid keyframe map. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the MRCG measurement.
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公开(公告)号：US12203756B2
公开(公告)日：2025-01-21
申请号：US18530506
申请日：2023-12-06
Applicant: Trimble Inc.
Inventor： Bruno M. Scherzinger
Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a previous navigation solution, and (ii) a specific force vector and an angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to perform an a priori transformation of RI data acquired by the RI sensor using the current navigation solution to obtain transformed RI data, an RI map database configured to retrieve a valid keyframe map based on the transformed RI data, and an RI filter manager (RFM) configured to construct a map registration cost gradient (MRCG) measurement based on (i) the transformed RI data, and (ii) the known position and the known orientation of the valid keyframe map. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the MRCG measurement.
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公开(公告)号：US11874116B2
公开(公告)日：2024-01-16
申请号：US17178624
申请日：2021-02-18
Applicant: Trimble Inc.
Inventor： Bruno M. Scherzinger
CPC classification number: G01C21/1652 , G01C21/1656 , G01C21/20
Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a previous navigation solution, and (ii) a specific force vector and an angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to perform an a priori transformation of RI data acquired by the RI sensor using the current navigation solution to obtain transformed RI data, an RI map database configured to retrieve a valid keyframe map based on the transformed RI data, and an RI filter manager (RFM) configured to construct a map registration cost gradient (MRCG) measurement based on (i) the transformed RI data, and (ii) the known position and the known orientation of the valid keyframe map. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the MRCG measurement.
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Patent Agency Ranking
公开(公告)号：US12123721B2
公开(公告)日：2024-10-22
申请号：US18369613
申请日：2023-09-18
Applicant: Trimble Inc.
Inventor： Bruno M. Scherzinger
CPC classification number: G01C21/1652 , G01C19/02 , G01C21/1656
Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a last navigation solution, and (ii) a specific force vector and an angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to: perform a priori transformations of last RI data and current RI data to obtain transformed last RI data and transformed current RI data based on the last navigation solution and the current navigation solution, respectively, an RI filter manager (RFM) configured to construct a delta pose registration cost gradient (DPRCG) measurement based on (i) the transformed last RI data, (ii) the transformed current RI data, (iii) the current navigation solution, and (iv) the last navigation solution. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the DPRCG measurement.
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公开(公告)号：US20220276053A1
公开(公告)日：2022-09-01
申请号：US17178620
申请日：2021-02-18
Applicant: Trimble Inc
Inventor： Bruno M. Scherzinger
Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a last navigation solution, and (ii) a specific force vector and a n angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to: perform a priori transformations of last RI data and current RI data to obtain transformed last RI data and transformed current RI data based on the last navigation solution and the current navigation solution, respectively, an RI filter manager (RFM) configured to construct a delta pose registration cost gradient (DPRCG) measurement based on (i) the transformed last RI data, (ii) the transformed current RI data, (iii) the current navigation solution, and (iv) the last navigation solution. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the DPRCG measurement.
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公开(公告)号：US20240003687A1
公开(公告)日：2024-01-04
申请号：US18369613
申请日：2023-09-18
Applicant: Trimble Inc.
Inventor： Bruno M. Scherzinger
CPC classification number: G01C21/1652 , G01C21/1656 , G01C19/02
Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a last navigation solution, and (ii) a specific force vector and an angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to: perform a priori transformations of last RI data and current RI data to obtain transformed last RI data and transformed current RI data based on the last navigation solution and the current navigation solution, respectively, an RI filter manager (RFM) configured to construct a delta pose registration cost gradient (DPRCG) measurement based on (i) the transformed last RI data, (ii) the transformed current RI data, (iii) the current navigation solution, and (iv) the last navigation solution. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the DPRCG measurement.
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公开(公告)号：US11815356B2
公开(公告)日：2023-11-14
申请号：US17178620
申请日：2021-02-18
Applicant: Trimble Inc.
Inventor： Bruno M. Scherzinger
CPC classification number: G01C21/1652 , G01C19/02 , G01C21/1656
Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a last navigation solution, and (ii) a specific force vector and a n angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to: perform a priori transformations of last RI data and current RI data to obtain transformed last RI data and transformed current RI data based on the last navigation solution and the current navigation solution, respectively, an RI filter manager (RFM) configured to construct a delta pose registration cost gradient (DPRCG) measurement based on (i) the transformed last RI data, (ii) the transformed current RI data, (iii) the current navigation solution, and (iv) the last navigation solution. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the DPRCG measurement.
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公开(公告)号：US20240151537A1
公开(公告)日：2024-05-09
申请号：US18530506
申请日：2023-12-06
Applicant: Trimble Inc.
Inventor： Bruno M. Scherzinger
CPC classification number: G01C21/1652 , G01C21/1656 , G01C21/20
Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a previous navigation solution, and (ii) a specific force vector and an angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to perform an a priori transformation of RI data acquired by the RI sensor using the current navigation solution to obtain transformed RI data, an RI map database configured to retrieve a valid keyframe map based on the transformed RI data, and an RI filter manager (RFM) configured to construct a map registration cost gradient (MRCG) measurement based on (i) the transformed RI data, and (ii) the known position and the known orientation of the valid keyframe map. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the MRCG measurement.
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