公开(公告)号：US08855911B2

公开(公告)日：2014-10-07

申请号：US12963893

申请日：2010-12-09

申请人： Yunqian Ma ,  John B. McKitterick ,  Wesley J. Hawkinson

发明人： Yunqian Ma ,  John B. McKitterick ,  Wesley J. Hawkinson

IPC分类号： G01C21/16 ,  G01S5/16 ,  G01S5/02

CPC分类号： G01S5/0252 ,  G01S5/0263 ,  G01S5/16

摘要： Systems and methods for navigation using cross correlation on evidence grids are provided. In one embodiment, a system for using cross-correlated evidence grids to acquire navigation information comprises: a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data.

摘要翻译： 提供了在证据网格上使用互相关的导航系统和方法。 在一个实施例中，一种用于使用相互关联的证据网格来获取导航信息的系统包括：与惯性测量单元耦合的导航处理器，所述导航处理器被配置为产生导航解决方案; 配置成扫描环境的传感器; 耦合到所述传感器和所述导航处理器的证据格网创建器，其中所述证据格网创建器被配置为基于从所述传感器和所述导航解决方案接收的数据来生成当前证据网格; 相关器，其被配置为将当前证据格栅与存储在存储器中的历史证据网格相关联以产生位移信息; 并且其中导航处理器接收从证据网格的相关性导出的校正数据，并且基于校正数据来调整导航解决方案。

公开(公告)号：US20120150441A1

公开(公告)日：2012-06-14

申请号：US12963893

申请日：2010-12-09

申请人： Yunqian Ma ,  John B. McKitterick ,  Wesley J. Hawkinson

发明人： Yunqian Ma ,  John B. McKitterick ,  Wesley J. Hawkinson

IPC分类号： G01C21/16

CPC分类号： G01S5/0252 ,  G01S5/0263 ,  G01S5/16

摘要： Systems and methods for navigation using cross correlation on evidence grids are provided. In one embodiment, a system for using cross-correlated evidence grids to acquire navigation information comprises: a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data.

摘要翻译： 提供了在证据网格上使用互相关的导航系统和方法。 在一个实施例中，一种用于使用相互关联的证据网格来获取导航信息的系统包括：与惯性测量单元耦合的导航处理器，所述导航处理器被配置为产生导航解决方案; 被配置为扫描环境的传感器; 耦合到所述传感器和所述导航处理器的证据格网创建器，其中所述证据格网创建器被配置为基于从所述传感器和所述导航解决方案接收的数据来生成当前证据网格; 相关器，其被配置为将当前证据格栅与存储在存储器中的历史证据网格相关联以产生位移信息; 并且其中导航处理器接收从证据网格的相关性导出的校正数据，并且基于校正数据来调整导航解决方案。

公开(公告)号：US08676498B2

公开(公告)日：2014-03-18

申请号：US12889728

申请日：2010-09-24

申请人： Yunqian Ma ,  Wesley J. Hawkinson

发明人： Yunqian Ma ,  Wesley J. Hawkinson

IPC分类号： G01C21/10

CPC分类号： G01C21/165 ,  G01S5/16 ,  G05D1/0246 ,  G05D1/027

摘要： A navigation device is provided herein comprising an inertial measurement unit (IMU), a camera, and a processor. The IMU provides an inertial measurement to the processor and the camera provides at least one image frame to the processor. The processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.

摘要翻译： 本文提供的导航装置包括惯性测量单元（IMU），照相机和处理器。 IMU向处理器提供惯性测量，并且相机向处理器提供至少一个图像帧。 处理器被配置为基于惯性测量和至少一个图像帧来确定导航数据，其中基于导航数据从至少一个图像帧中提取至少一个特征。

公开(公告)号：US20120078510A1

公开(公告)日：2012-03-29

申请号：US12889728

申请日：2010-09-24

申请人： Yunqian Ma ,  Wesley J. Hawkinson

发明人： Yunqian Ma ,  Wesley J. Hawkinson

IPC分类号： G01C21/16

CPC分类号： G01C21/165 ,  G01S5/16 ,  G05D1/0246 ,  G05D1/027

摘要： A navigation device is provided herein comprising an inertial measurement unit (IMU), a camera, and a processor. The IMU provides an inertial measurement to the processor and the camera provides at least one image frame to the processor. The processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.

摘要翻译： 本文提供的导航装置包括惯性测量单元（IMU），照相机和处理器。 IMU向处理器提供惯性测量，并且相机向处理器提供至少一个图像帧。 处理器被配置为基于惯性测量和至少一个图像帧来确定导航数据，其中基于导航数据从至少一个图像帧中提取至少一个特征。

公开(公告)号：US20080169964A1

公开(公告)日：2008-07-17

申请号：US11554802

申请日：2006-10-31

申请人： Wesley J. Hawkinson

发明人： Wesley J. Hawkinson

IPC分类号： G01S13/08

CPC分类号： G01C21/165 ,  G01C21/005

摘要： Systems and methods for terrain contour matching navigation are provided. In one embodiment, a method for terrain contour matching navigation comprises: receiving at least one sample point representing the position of an aircraft, the at least one sample point including a horizontal position and an altitude sample; correlating a first sample point of the at least one sample point across a reference basket array having a plurality of elements; determining a correlation quality; when the correlation quality does not achieve a pre-determined quality threshold, performing at least one additional correlation of an additional sample point of the at least one sample point across the reference basket array; and when the correlation quality does achieve a pre-determined quality threshold, calculating a position error based on the correlating of the first sample point and any additional correlations of any additional sample points.

摘要翻译： 提供了用于地形轮廓匹配导航的系统和方法。 在一个实施例中，一种用于地形轮廓匹配导航的方法包括：接收表示飞机位置的至少一个采样点，所述至少一个采样点包括水平位置和高度采样; 将所述至少一个采样点的第一采样点与具有多个元件的参考筐阵列相关联; 确定相关质量; 当所述相关质量未达到预定质量阈值时，对所述参考篮阵列执行所述至少一个采样点的附加采样点的至少一个附加相关; 并且当相关质量确实达到预定质量阈值时，基于第一采样点与任何附加采样点的任何附加相关性来计算位置误差。

公开(公告)号：US08812235B2

公开(公告)日：2014-08-19

申请号：US13368823

申请日：2012-02-08

申请人： Ryan Ingvalson ,  Wesley J. Hawkinson ,  Robert C. McCroskey ,  Paul Samanant

发明人： Ryan Ingvalson ,  Wesley J. Hawkinson ,  Robert C. McCroskey ,  Paul Samanant

IPC分类号： G01C21/16

CPC分类号： G01C21/165

摘要： Embodiments of the present invention provide improved systems and methods for estimating N-dimensional parameters while sensing fewer than N dimensions. In one embodiment a navigational system comprises a processor and an inertial measurement unit (IMU) that provides an output to the processor, the processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter. Further, the navigational system includes at most two sensors that provide an output to the processor, wherein the processor computes an estimate of an n-dimensional parameter from the output of the at most two sensors for bounding errors in the n-dimensional parameter as calculated by the processor when the trajectory measured by the IMU satisfies movement requirements, wherein “n” is greater than the number of the at most two sensors.

摘要翻译： 本发明的实施例提供用于在感测少于N维的情况下估计N维参数的改进的系统和方法。 在一个实施例中，导航系统包括向处理器提供输出的处理器和惯性测量单元（IMU），所述处理器基于所述IMU的输出提供导航解决方案，其中所述导航解决方案包括： 尺寸参数。 此外，导航系统包括至多两个向处理器提供输出的传感器，其中处理器从最多两个传感器的输出计算n维参数的估计，用于在所计算的n维参数中的边界误差 当由IMU测量的轨迹满足运动要求时，由处理器，其中“n”大于至多两个传感器的数量。

公开(公告)号：US20120209520A1

公开(公告)日：2012-08-16

申请号：US13368823

申请日：2012-02-08

申请人： Ryan Ingvalson ,  Wesley J. Hawkinson ,  Robert C. McCroskey ,  Paul Samanant

发明人： Ryan Ingvalson ,  Wesley J. Hawkinson ,  Robert C. McCroskey ,  Paul Samanant

IPC分类号： G01C21/16

CPC分类号： G01C21/165

摘要： Embodiments of the present invention provide improved systems and methods for estimating N-dimensional parameters while sensing fewer than N dimensions. In one embodiment a navigational system comprises a processor and an inertial measurement unit (IMU) that provides an output to the processor, the processor providing a navigation solution based on the output of the IMU, wherein the navigation solution includes a calculation of an n-dimensional parameter. Further, the navigational system includes at most two sensors that provide an output to the processor, wherein the processor computes an estimate of an n-dimensional parameter from the output of the at most two sensors for bounding errors in the n-dimensional parameter as calculated by the processor when the trajectory measured by the IMU satisfies movement requirements, wherein “n” is greater than the number of the at most two sensors.

摘要翻译： 本发明的实施例提供用于在感测少于N维的情况下估计N维参数的改进的系统和方法。 在一个实施例中，导航系统包括向处理器提供输出的处理器和惯性测量单元（IMU），所述处理器基于所述IMU的输出提供导航解决方案，其中所述导航解决方案包括： 尺寸参数。 此外，导航系统包括至多两个向处理器提供输出的传感器，其中处理器从最多两个传感器的输出计算n维参数的估计，用于在所计算的n维参数中的边界误差 当由IMU测量的轨迹满足运动要求时，由处理器，其中“n”大于至多两个传感器的数量。

公开(公告)号：US08019542B2

公开(公告)日：2011-09-13

申请号：US12059837

申请日：2008-03-31

申请人： Wesley J. Hawkinson ,  Tom Rolfer

发明人： Wesley J. Hawkinson ,  Tom Rolfer

IPC分类号： G01C21/10

CPC分类号： G01C21/165 ,  G01C25/005

摘要： A method of stabilizing heading in an inertial navigation system includes operating an inertial measurement unit comprising horizontal-sensing elements and off-horizontal-sensing elements while the inertial measurement unit is in a first orientation, calibrating the horizontal-sensing elements of the inertial measurement unit based on horizontal aiding measurements, forward-rotating the inertial measurement unit by a selected-rotation angle about a horizontal-rotation axis so that the inertial measurement unit is oriented in a second orientation, operating the forward-rotated inertial measurement unit while the inertial measurement unit is in the second orientation, and calibrating the rotated off-horizontal-sensing elements based on horizontal aiding measurements while the inertial measurement unit is in the second orientation. When the inertial measurement unit is in the first orientation, the horizontal-sensing elements are oriented in a horizontal reference plane. When the inertial measurement unit is in the second orientation, the off-horizontal-sensing elements are oriented in the horizontal reference plane.

摘要翻译： 一种在惯性导航系统中稳定航向的方法包括在惯性测量单元处于第一方向的同时操作包括水平感测元件和离水平感测元件的惯性测量单元，校准惯性测量单元的水平感测元件 基于水平辅助测量，惯性测量单元以围绕水平旋转轴线的选定旋转角度正向旋转，使得惯性测量单元在第二方向上定向，在惯性测量单元操作正向旋转惯性测量单元 单元处于第二方位，并且在惯性测量单元处于第二方向时，基于水平辅助测量校准旋转的水平离开的感测元件。 当惯性测量单元处于第一方向时，水平感测元件在水平参考平面中定向。 当惯性测量单元处于第二取向时，水平偏移元件在水平参考平面内定向。

公开(公告)号：US07421343B2

公开(公告)日：2008-09-02

申请号：US11163695

申请日：2005-10-27

申请人： Wesley J. Hawkinson

发明人： Wesley J. Hawkinson

IPC分类号： G01C21/00

CPC分类号： G01C21/16

摘要： Systems and methods for reducing vibration-induced bias errors in inertial sensors are disclosed. A system for reducing bias errors in an inertial sensor operating within an environment may include a vibration detector for sensing vibration changes within the environment proximate to the inertial sensor, and a Kalman filter for computing an estimate of the navigational error produced by the inertial sensor due to a vibration-induced bias shift detected by the vibration detector. The vibration detector can be configured to measure an accelerometer output of the inertial sensor over a Kalman filter cycle, and then use the standard deviation of such output to obtain a statistical measure of the vibration within the environment. In some embodiments, the inertial sensor may include an inertial measurement unit (IMU) connected to an error compensation unit and strapdown navigator, each of which can be fed navigation corrections determined by the Kalman filter.

摘要翻译： 公开了用于减少惯性传感器中的振动引起的偏差误差的系统和方法。 用于减少在环境中操作的惯性传感器中的偏移误差的系统可以包括用于感测靠近惯性传感器的环境内的振动变化的振动检测器，以及用于计算由惯性传感器产生的导航误差估计值的卡尔曼滤波器 到由振动检测器检测到的振动引起的偏移位移。 振动检测器可以被配置成通过卡尔曼滤波器周期测量惯性传感器的加速度计输出，然后使用这种输出的标准偏差来获得环境内的振动的统计量度。 在一些实施例中，惯性传感器可以包括连接到误差补偿单元和捷联导航仪的惯性测量单元（IMU），每个导航器可以馈送由卡尔曼滤波器确定的导航校正。

公开(公告)号：US07305303B2

公开(公告)日：2007-12-04

申请号：US11066513

申请日：2005-02-25

申请人： Wayne A. Soehren ,  Charles T. Bye ,  Wesley J. Hawkinson

发明人： Wayne A. Soehren ,  Charles T. Bye ,  Wesley J. Hawkinson

IPC分类号： G01C21/16 ,  G01C21/00

CPC分类号： G01C21/005 ,  G01C21/165

摘要： A navigation system includes an inertial navigation unit. The navigation system also includes a Kalman filter that generates corrective feedback for use by the inertial navigation unit. The Kalman filter generates the corrective feedback as a function of at least one of GPS/DGPS information, sensor information, user input, terrain correlation information, signal-of-opportunity information, and/or position information output by a motion classifier.

摘要翻译： 导航系统包括惯性导航单元。 该导航系统还包括卡尔曼滤波器，其产生用于惯性导航单元的校正反馈。 卡尔曼滤波器产生作为GPS / DGPS信息，传感器信息，用户输入，地形相关信息，机会信息信息和/或运动分类器输出的位置信息中的至少一个的函数的校正反馈。