SYSTEM AND METHOD FOR COLLABORATIVE NAVIGATION
First Claim
1. A system for collaborative navigation, the system comprising:
- a first mobile unit;
at least one inertial measurement unit on the first mobile unit;
at least one environment sensor on the first mobile unit;
a navigator module configured to receive inertial data from the inertial measurement unit;
an object characterization module configured to receive sensor data from the environment sensor and a navigation solution from the navigator module;
a common object geo-locator module configured to receive a first set of descriptors from the object characterization module and a second set of descriptors from another mobile unit; and
a data association module configured to receive common descriptors from the common object geo-locator module;
wherein the first mobile unit is configured to operatively communicate with one or more additional mobile units that are configured for collaborative navigation with the first mobile unit.
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Abstract
A system and method for collaborative navigation is provided. The system comprises a first mobile unit, at least one inertial measurement unit on the first mobile unit, and at least one environment sensor on the first mobile unit. A navigator module in the first mobile unit is configured to receive inertial data from the inertial measurement unit. An object characterization module is configured to receive sensor data from the environment sensor and a navigation solution from the navigator module. A common object geo-locator module is configured to receive a first set of descriptors from the object characterization module and a second set of descriptors from another mobile unit. A data association module is configured to receive common descriptors from the common object geo-locator module. The first mobile unit is configured to operatively communicate with one or more additional mobile units that are configured for collaborative navigation with the first mobile unit.
25 Citations
20 Claims
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1. A system for collaborative navigation, the system comprising:
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a first mobile unit; at least one inertial measurement unit on the first mobile unit; at least one environment sensor on the first mobile unit; a navigator module configured to receive inertial data from the inertial measurement unit; an object characterization module configured to receive sensor data from the environment sensor and a navigation solution from the navigator module; a common object geo-locator module configured to receive a first set of descriptors from the object characterization module and a second set of descriptors from another mobile unit; and a data association module configured to receive common descriptors from the common object geo-locator module; wherein the first mobile unit is configured to operatively communicate with one or more additional mobile units that are configured for collaborative navigation with the first mobile unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method of collaborative navigation, the method comprising:
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deploying at least a first mobile unit and a second mobile unit in a location of a target, the first and second mobile units each comprising at least one inertial measurement unit and at least one environment sensor; inputting sensor data related to the target into an object characterization module in each of the mobile units from the inertial measurement unit and the environment sensor in each of the mobile units; inputting descriptor information related to the target from the object characterization module in each of the mobile units into a common object geo-locator module in each of the mobile units; exchanging geo-reference information related to the target between the first and second mobile units; and determining a best estimate of the geo-reference of the target. - View Dependent Claims (20)
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Specification