CORRELATION POSITION DETERMINATION
First Claim
1. A method of navigating with the use of correlation within a select area, the method comprising:
- storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area;
measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area;
correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data;
determining at least one of then current location and heading estimates within the select area based at least in part on correlation results; and
using the at least one of the then current location and heading estimates for navigation.
1 Assignment
0 Petitions
Accused Products
Abstract
Methods and apparatus for navigating with the use of correlation within a select area are provided. One method includes, storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area. Measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area. Correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data. Determining at least one of then current location and heading estimates within the select area based at least in part on the correlation and using the least one of the then current location and heading estimates for navigation.
-
Citations
22 Claims
-
1. A method of navigating with the use of correlation within a select area, the method comprising:
-
storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area; measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area; correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data; determining at least one of then current location and heading estimates within the select area based at least in part on correlation results; and using the at least one of the then current location and heading estimates for navigation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A method navigating with the use of correlation in a select area, the method comprising:
-
traversing throughout the select area an initial time; while traversing throughout the select area the initial time, determining ranges and associated angles to objects; storing the ranges and associated angles to objects in a scene database to create a map of sectors of distances and associated angles to objects throughout the select area; estimating a current location estimate for a subsequent traversal through the selected area; conducting a range scan at the estimated location to determine ranges and associated angles to objects; selecting an appropriate sector of the map of stored ranges and associated angles in the scene database based at least in part on the estimated location estimate; correlating the ranges and associated angles of the conducted range scan with the ranges and associated angles in the selected sector of the map to determine at least one of current location and heading; and outputting the at least one of current location and heading for use in navigation. - View Dependent Claims (12, 13, 14, 16, 18, 19, 20)
-
-
15. A location determination device, the device comprising:
-
a ranging device configured to measure at least one of angles, ranges and attitude data with regards to objects; a scene database configured to store the at least one of angles, ranges and attitude data with regard to objects to create a map having sections including information of at least one of the angles, ranges and attitude data with regards to objects; and a correlation system, the correlation system including a processor configured to correlate at least one of then current measured angles, ranges and attitude data with regards to objects with the stored at least one of the angles, ranges and attitude data with regards to objects in at least one section of the map to determine at least one of location, heading and attitude. - View Dependent Claims (17)
-
-
21. A method of determining a location within a select area, the method comprising:
-
storing data required to reconstruct angles associated with objects while initially traversing throughout the select area; measuring then current angles with regard to the objects during a subsequent traversal throughout the select area; correlating the then current angles with regards to the objects to reconstructed angles with regards to the objects from the stored data; and determining at least one of then current location and heading estimates within the select area based at least in part on correlation results. - View Dependent Claims (22)
-
Specification