×

ESTIMATING POSITION AND ORIENTATION OF AN UNDERWATER VEHICLE BASED ON CORRELATED SENSOR DATA

  • US 20120101715A1
  • Filed: 10/25/2011
  • Published: 04/26/2012
  • Est. Priority Date: 10/25/2010
  • Status: Active Grant
First Claim
Patent Images

1. A method of estimating position and orientation (pose) of an underwater vehicle comprising:

  • receiving pose data from one source;

    receiving pose data from another source, the data from the another source is correlated with the data from the one source;

    combining the data from the one source and the another source, the combination resulting in a fused pose estimate;

    determining whether to generate a forward prediction of the data received from either the one source or the another source, and generating the forward prediction if needed; and

    determining an updated pose of the underwater vehicle based on the fused pose estimate; and

    determining when to and updating the one source or the another source based on the fused pose.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×