Systems and methods for using a sliding window of global positioning epochs in visual-inertial odometry

• US 10,267,924 B2
• Filed: 09/13/2017
• Issued: 04/23/2019
• Est. Priority Date: 01/04/2017
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Ramanandan, Arvind, Chari, Murali, Chen, Yiming, Joshi, Avdhut, Lima, John Steven
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US15/703,588
• Publication Number:
  US 20180188384A1
• Time in Patent Office: 587 Days
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/52 Determining velocity
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

A method for visual inertial odometry (VIO)-aided global positioning is described. The method includes updating an extended Kalman filter (EKF) state including a current pose and a sliding window of multiple prior poses. The sliding window includes poses at a number of most recent global positioning system (GPS) time epochs. Updating the EKF includes updating an EKF covariance matrix for the prior poses and the current pose in the EKF state. The method also includes determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose. The method further includes determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix. The method additionally includes using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs.

Claims

1. A method for visual inertial odometry (VIO)-aided global positioning, comprising:

updating an extended Kalman filter (EKF) state comprising a current pose of an electronic device and a sliding window of multiple prior poses using measurements up to a current epoch, wherein the sliding window of multiple prior poses comprises poses of the electronic device at a number of most recent global positioning system (GPS) time epochs, wherein the updating comprises updating an EKF covariance matrix for the prior poses and the current pose in the EKF state;

determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose;

determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix;

using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs; and

controlling a vehicle based on the fused pseudorange measurements.

2. The method of claim 1, further comprising removing outlier pseudorange measurements from a set of pseudorange measurements based on the relative displacements between the updated prior poses and the current pose.

3. The method of claim 1, further comprising weighting inlier pseudorange measurements using the error covariances of the relative displacements.

4. The method of claim 1, further comprising determining an absolute position fix using inlier pseudorange measurements.

5. The method of claim 1, wherein the relative displacements are determined using VIO measurements, and wherein the relative displacements are utilized to propagate electronic device pose between GPS epochs.

6. The method of claim 1, further comprising determining whether to insert a GPS measurement based on an amount of distance traveled.

7. The method of claim 1, wherein the vehicle comprises the electronic device.

8. An electronic device for visual inertial odometry (VIO)-aided global positioning, comprising:

a memory;

a processor coupled to the memory, wherein the processor is configured to;

update an extended Kalman filter (EKF) state comprising a current pose of the electronic device and a sliding window of multiple prior poses using measurements up to a current epoch, wherein the sliding window of multiple prior poses comprises poses of the electronic device at a number of most recent global positioning system (GPS) time epochs, wherein the updating comprises updating an EKF covariance matrix for the prior poses and the current pose in the EKF state;

determine, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose;

determine an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix;

use the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs; and

control a vehicle based on the fused pseudorange measurements.

9. The electronic device of claim 8, wherein the processor is configured to remove outlier pseudorange measurements from a set of pseudorange measurements based on the relative displacements between the updated prior poses and the current pose.

10. The electronic device of claim 8, wherein the processor is configured to weight inlier pseudorange measurements using the error covariances of the relative displacements.

11. The electronic device of claim 8, wherein the processor is configured to determine an absolute position fix using inlier pseudorange measurements.

12. The electronic device of claim 8, wherein the processor is configured to determine relative displacements using VIO measurements, and wherein the processor is configured to utilize the relative displacements to propagate electronic device pose between GPS epochs.

13. The electronic device of claim 8, wherein the processor is configured to determine whether to insert a GPS measurement based on an amount of distance traveled.

14. The electronic device of claim 8, wherein the vehicle comprises the electronic device.

15. A non-transitory tangible computer-readable medium storing computer executable code, comprising:

code for causing an electronic device to update an extended Kalman filter (EKF) state comprising a current pose of the electronic device and a sliding window of multiple prior poses using measurements up to a current epoch, wherein the sliding window of multiple prior poses comprises poses of the electronic device at a number of most recent global positioning system (GPS) time epochs, wherein the updating comprises updating an EKF covariance matrix for the prior poses and the current pose in the EKF state;

code for causing the electronic device to determine, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose;

code for causing the electronic device to determine an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix;

code for causing the electronic device to use the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs; and

code for causing the electronic device to control a vehicle based on the fused pseudorange measurements.

16. The computer-readable medium of claim 15, further comprising code for causing the electronic device to remove outlier pseudorange measurements from a set of pseudorange measurements based on the relative displacements between the updated prior poses and the current pose.

17. The computer-readable medium of claim 15, further comprising code for causing the electronic device to weight inlier pseudorange measurements using the error covariances of the relative displacements.

18. The computer-readable medium of claim 15, further comprising code for causing the electronic device to determine an absolute position fix using inlier pseudorange measurements.

19. The computer-readable medium of claim 15, further comprising:

code for causing the electronic device to determine relative displacements using VIO measurements; and

code for causing the electronic device to utilize the relative displacements to propagate electronic device pose between GPS epochs.

20. The computer-readable medium of claim 15, further comprising code for causing the electronic device to determine whether to insert a GPS measurement based on an amount of distance traveled.

21. The computer-readable medium of claim 15, wherein the vehicle comprises the electronic device.

22. An apparatus, comprising:

means for updating an extended Kalman filter (EKF) state comprising a current pose of the apparatus and a sliding window of multiple prior poses using measurements up to a current epoch, wherein the sliding window of multiple prior poses comprises poses of the apparatus at a number of most recent global positioning system (GPS) time epochs, wherein the updating comprises updating an EKF covariance matrix for the prior poses and the current pose in the EKF state;

means for determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose;

means for determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix;

means for using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs; and

means for controlling a vehicle based on the fused pseudorange measurements.

23. The apparatus of claim 22, further comprising means for removing outlier pseudorange measurements from a set of pseudorange measurements based on the relative displacements between the updated prior poses and the current pose.

24. The apparatus of claim 22, further comprising means for weighting inlier pseudorange measurements using the error covariances of the relative displacements.

25. The apparatus of claim 22, further comprising means for determining an absolute position fix using inlier pseudorange measurements.

26. The apparatus of claim 22, wherein the relative displacements are determined using VIO measurements, and wherein the relative displacements are utilized to propagate apparatus pose between GPS epochs.

27. The apparatus of claim 22, further comprising means for determining whether to insert a GPS measurement based on an amount of distance traveled.

28. The apparatus of claim 22, wherein the vehicle comprises the apparatus.