CORRELATION POSITION DETERMINATION

• US 20130345968A1
• Filed: 08/23/2013
• Published: 12/26/2013
• Est. Priority Date: 02/23/2007
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Hartman, Randolph G.
• Granted Patent: US 8,670,932 B2
• Time in Patent Office: Days
• US Class Current: 701/446
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/875 for determining attitude
• 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 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

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.

Claims

1. A location determination device, the device comprising:

a ranging device configured to measure at least one of angles, ranges, or attitude data with regard to objects;

a scene database configured to store the at least one of angles, ranges, or attitude data with regard to objects to create a map having sections including information of at least one of the angles, ranges, or attitude data with regard to objects; and

a correlation system, the correlation system including a processor configured to correlate at least one of current measured angles, ranges, or attitude data with regard to objects with the stored at least one of the angles, ranges, or attitude data with regard to objects in at least one section of the map to determine at least one of location, heading, or attitude.

2. The device of claim 1, further comprising at least one of an inertial sensor, a heading sensor, a speed sensor, a global positioning sensor, or an altimeter sensor.

3. The device of claim 1, wherein the correlation system further comprises:

a discriminator configured to output correlation data relating to measured and stored data; and

a normalization unit configured to adjust to the output from the discriminator to adjust for quality factors in the measured and stored data.

4. The device of claim 1, wherein the ranging device is further configured to scan a subset of 360 degrees.

5. The device of claim 1, wherein the ranging device is one of a laser ranger, a radar rangefinder, a stereo rangefinder, a 360 degree LIDAR, or a flash LIDAR.

6. The device of claim 1, wherein the scene database is further configured to store angles associated with areas of no return, and the processor is further configured to use at least in part the stored angles associated with areas of no return in determining locations.

7. 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 current angles with regard to the objects during a subsequent traversal throughout the select area;

correlating the current angles with regard to the objects to reconstructed angles with regard to the objects from the stored data; and

determining at least one of current location and heading estimates within the select area based at least in part on correlation results.

8. The method of claim 7, further comprising:

storing data required to reconstruct angles associated with no returns;

measuring current angles with no returns; and

correlating the current angles with no returns with reconstructed angles associated with no returns.