公开(公告)号：US12130305B2

公开(公告)日：2024-10-29

申请号：US18487459

申请日：2023-10-16

申请人： SEIKO EPSON CORPORATION

发明人： Yusuke Kinoshita ,  Nobuyuki Imai

IPC分类号： G01P15/18 ,  G01C21/16 ,  G01C21/18 ,  G01S19/47 ,  G01S19/49

CPC分类号： G01P15/18 ,  G01C21/165 ,  G01C21/18 ,  G01S19/47 ,  G01S19/49 ,  B81B2201/0235 ,  B81B2201/0242

摘要： An inertia measurement device, which is used in combination with a satellite positioning receiver that outputs a positioning result at every T seconds in a positioning system equipped on a vehicle, when a Z-axis angular velocity sensor, a position error P[m] based on the detection signal of the Z-axis angular velocity sensor while the vehicle moves at a moving speed V[m/sec] for T seconds satisfies Pp≥P=(V/Bz)×(1−cos(Bz×T)) (where, a bias error of the Z-axis angular velocity sensor is Bz[deg/sec] and a predetermined allowable maximum position error during movement for T seconds is Pp[m]), and a bias error Bx and By of the Y-axis angular velocity sensor satisfies Bz

公开(公告)号：US20240337762A1

公开(公告)日：2024-10-10

申请号：US17575250

申请日：2022-01-13

申请人： Honeywell International Inc.

发明人： Kenneth Steven Morgan ,  Ruth Dagmar Kreichauf ,  Benjamin Meier

IPC分类号： G01S19/49 ,  G01S19/21

CPC分类号： G01S19/49 ,  G01S19/215

摘要： An inertial coasting monitoring system comprises aiding sensors onboard a vehicle, including a GNSS receiver and at least one non-GNSS aiding sensor, and an inertial measurement unit (IMU) that produces inertial measurements for the vehicle. A navigation system is coupled to the aiding sensors and the IMU. The navigation system comprises a main navigation filter and an inertial navigation system (INS). The navigation filter receives aiding data from the aiding sensors including GNSS aided data, and the INS receives inertial data from the IMU. An onboard inertial coasting monitor communicates with the navigation system, and receives inertial data from the IMU and aiding data from at least one non-GNSS aiding sensor. The inertial coasting monitor comprises inertial coast sub-filters and communicates with the navigation filter. The inertial coasting monitor performs a position detection process and/or a velocity detection process to detect if there is a fault in the aiding data.

公开(公告)号：US12103572B2

公开(公告)日：2024-10-01

申请号：US18193575

申请日：2023-03-30

申请人： Humatics Corporation

发明人： Pedro Teixeira ,  Michael Kuhlman ,  Reza Rezaie ,  Joshua Senna ,  Aaron Whittemore

IPC分类号： B61L25/02 ,  G01S5/02 ,  G01S19/39 ,  G01S19/47 ,  G01S19/49

CPC分类号： B61L25/028 ,  B61L25/026 ,  G01S5/0264 ,  G01S5/02695 ,  G01S19/393 ,  G01S19/47 ,  G01S19/49 ,  G01S2205/01

摘要： Described herein are techniques for determining motion characteristics of trains traveling along a train track. In some embodiments, a processor may determine an estimated position of a train using an observed position obtained using one or more UWB antennas and an observed position obtained using one or more GNSS receivers. In some embodiments, a processor may access information specifying a geometry of a train track and determining the position of a train along the train track using an observed position determined using one or more UWB antennas and/or GNSS receiver(s) and the information specifying the geometry of the train track. In some embodiments, a processor may determine estimated positions of a train using the geometry of the train track and at least one observation of the train obtained using one or more positioning devices and select the position of the train from among the estimated positions.

公开(公告)号：US12061277B1

公开(公告)日：2024-08-13

申请号：US18383524

申请日：2023-10-25

申请人： Beihang University

发明人： Kun Fang ,  Zhipeng Wang ,  Xiaopeng Hou ,  Zhiqiang Dan ,  Jinqi Li

IPC分类号： G01S19/47 ,  G01S5/02 ,  G01S19/49

CPC分类号： G01S19/47 ,  G01S5/0264 ,  G01S5/0244 ,  G01S5/0294 ,  G01S19/49 ,  G01S2205/03

摘要： The present application discloses an airborne positioning method and system for an aviation navigation network, and relates to the technical field of satellite navigation. The airborne positioning method for an aviation navigation network is applied to an omnisource navigation system, and comprises the following steps: acquiring the original observation data of the omnisource navigation system; Filtering the original observation data based on dead reckoning to obtain filtered observation data; Unify that filtered observation data in time and space to obtain observation data to be fused; The adaptive fusion algorithm of omnisource navigation based on variance optimization is adopted to fuse the observation data to be fused to obtain the fused data; the fused data is used to characterize the position of the target aircraft at the current moment. The present application can improve the accuracy of the positioning result.

公开(公告)号：US12019170B1

公开(公告)日：2024-06-25

申请号：US18496789

申请日：2023-10-27

申请人： SHANDONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

发明人： Ying Xu ,  Kun Wang ,  Jinjie Sun ,  Yuqing Feng

IPC分类号： G01S19/39 ,  G01S19/40 ,  G01S19/49 ,  G01S19/52

CPC分类号： G01S19/393 ,  G01S19/40 ,  G01S19/49 ,  G01S19/52

摘要： The present disclosure relates to the field of GNSS and INS integrated navigation technology, and specifically discloses a GNSS and INS integrated navigation positioning method and a system thereof. To addresses the technical problem of positioning error divergence in integrated navigation systems caused by insufficient satellite visibility or strong multipath effects in GNSS denial environments, a method combining motion constraint algorithm and neural network algorithm is proposed for robustness by the present disclosure. The motion constraint algorithm is very stable, but it cannot self-adaptively adjust the constraint threshold based on the vehicle motion state. The neural network algorithm has strong flexibility, but the obtained predicted values inevitably have outliers. The present disclosure combines motion constraints with the neural network algorithms, enabling these two algorithms to complement advantages of each other, thereby effectively improving the positioning accuracy and reliability of the integrated navigation system after GNSS losing lock.

公开(公告)号：US20240201399A1

公开(公告)日：2024-06-20

申请号：US18541232

申请日：2023-12-15

申请人： Raytheon Systems Limited

发明人： Sebastian Samuel Lounes Green ,  Michael Stephen Richard Hill ,  Jonathan Andrew Blenkharn

IPC分类号： G01S19/49 ,  G01S19/39

CPC分类号： G01S19/49 ,  G01S19/393

摘要： An iterative method for navigation of a vehicle, the method comprising: at a first processing element: receiving a set of satellite navigation data for the vehicle; receiving a validity time of the set of satellite navigation data; and receiving a series of sets of inertial navigation data each indicating acceleration and angular rate of the vehicle; after the validity time, storing received sets of inertial navigation data; at a second processing element: using a navigation filter algorithm, processing the received set of satellite navigation data together with a current position, velocity and attitude value of the vehicle, and a prediction of error states made by the navigation algorithm in a previous iteration, to generate an estimated position, velocity and attitude, and prediction of error states, of the vehicle; carrying out a catch up process comprising: obtaining a stored series of one or more sets of inertial navigation data comprising one or more sets of inertial navigation data which were received between the validity time and the completion of the processing the received set of satellite navigation data; using a set of inertial navigation data of the stored series which was the first set of inertial navigation data received after the validity time, and the estimated position, velocity and attitude of the vehicle, to calculate an updated position, velocity and attitude value of the vehicle; and for any remaining sets of inertial navigation data of the stored series, in turn, in order of reception, iteratively using each set of inertial navigation data and the updated position, velocity and attitude value of the vehicle to calculate a new updated position, velocity and attitude value of the vehicle; and sending the new updated position, velocity and attitude value of the vehicle to the first processing element; and at the first processing element, after receiving the new updated position and velocity value of the vehicle from the second processing element, for subsequently received sets of inertial navigation data, in turn, in order of reception, iteratively using each received set of inertial navigation data and the new updated position, velocity and attitude value of the vehicle to calculate a new updated position, velocity and attitude value of the vehicle; wherein the new updated position, velocity and attitude value of the vehicle at the validity time is used as the current position, velocity and attitude value of the vehicle by the navigation filter algorithm.

公开(公告)号：US11968491B2

公开(公告)日：2024-04-23

申请号：US18324588

申请日：2023-05-26

申请人： BRAGI GmbH

发明人： Darko Dragicevic ,  Peter Vincent Boesen

IPC分类号： H04R1/10 ,  G01S19/14 ,  G01S19/34 ,  G01S19/49 ,  H04S7/00

CPC分类号： H04R1/1041 ,  G01S19/14 ,  G01S19/34 ,  G01S19/49 ,  H04R1/1016 ,  H04R1/1025 ,  H04R2420/07 ,  H04R2420/09 ,  H04R2460/07 ,  H04S7/304

摘要： An earpiece includes an earpiece housing, a processor disposed within the earpiece, a speaker operatively connected to the processor, a microphone operatively connected the processor, and a global navigation satellite system (GNSS) receiver disposed within the earpiece. A system may include a first earpiece having a connector with earpiece charging contacts, a charging case for the first earpiece, the charging case having contacts for connecting with the earpiece charging contacts, and a global navigation satellite system (GNSS) receiver disposed within the charging case.

公开(公告)号：US11960013B2

公开(公告)日：2024-04-16

申请号：US16980743

申请日：2019-03-14

申请人： University of Cape Town

发明人： Amir Patel ,  Do Yeou Ku

IPC分类号： G01S19/43 ,  G01S19/49 ,  G06F3/01 ,  G01S19/19

CPC分类号： G01S19/43 ,  G01S19/49 ,  G06F3/011 ,  G01S19/19

摘要： A motion capture system and method are provided. In a motion capture method, a plurality of motion datasets are accessed. Each motion dataset is associated with a motion sensing unit at which timestamped motion data points of that motion dataset are generated, each motion sensing unit is configured to be in physical contact with a different part of a body of interest. Each timestamped motion data point is timestamped at the motion sensing unit at which it is generated using a clock time that is synchronized across the plurality of motion sensing units. The timestamped motion data points are processed to generate a kinematic model which describes motion of the respective parts of the body of interest.

公开(公告)号：US20240094415A1

公开(公告)日：2024-03-21

申请号：US18513782

申请日：2023-11-20

申请人： Swift Navigation, Inc.

发明人： Joseph Angelo ,  Christian Reimer ,  Sébastien Carcanague

IPC分类号： G01S19/45 ,  G01S19/20 ,  G01S19/39 ,  G01S19/43 ,  G01S19/49

CPC分类号： G01S19/45 ,  G01S19/20 ,  G01S19/393 ,  G01S19/43 ,  G01S19/49

摘要： An system and/or method for detecting outliers in satellite observations can include: receiving satellite observations associated with one or more satellite constellations; receiving sensor data; determining a GNSS positioning solution using a filter to process the satellite observations; determining a fused positioning solution; detecting whether outliers are present in the satellite observations; and when outliers are detected, updating the GNSS positioning solution and/or the fused positioning solution using a set of outlier mitigated satellite observations.

公开(公告)号：US20240068808A1

公开(公告)日：2024-02-29

申请号：US18219255

申请日：2023-07-07

申请人： The United States of America, as represented by the Secretary of the Navy

发明人： Gary A. Lunt

IPC分类号： G01C3/08 ,  G01P3/38 ,  G01S19/48 ,  G01S19/49 ,  G06T7/246 ,  G06T7/73 ,  G06V20/52 ,  G08G5/00 ,  H04N23/69

CPC分类号： G01C3/08 ,  G01P3/38 ,  G01S19/485 ,  G01S19/49 ,  G06T7/246 ,  G06T7/73 ,  G06V20/52 ,  G08G5/0013 ,  G08G5/0026 ,  G08G5/0069 ,  G08G5/0078 ,  G08G5/0086 ,  H04N23/69 ,  B64C39/024

摘要： A method of determining geo-reference data for a portion of a measurement area includes providing a monitoring assembly comprising a ground station, providing an imaging assembly comprising an imaging device with a lens operably coupled to an aerial device, hovering the aerial device over a measurement area, capturing at least one image of the measurement area within the imaging device, transmitting the at least one image to the ground station using a data transmitting assembly, and scaling the at least one image to determine the geo-reference data for the portion of the measurement area by calculating a size of a field-of-view (FOV) of the lens based on a distance between the imaging device and the measurement area.